CN115562069A - RT-LAB-based energy storage grid-connected test system and test method thereof - Google Patents
RT-LAB-based energy storage grid-connected test system and test method thereof Download PDFInfo
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Abstract
The invention provides an energy storage grid-connected test system based on RT-LAB and a test method thereof, wherein the system comprises: the system comprises an upper simulator, an RT-LAB simulation system and a controller, wherein the RT-LAB simulation system comprises a real-time simulator, an FPGA board card module and an interface module; the upper simulator is used for establishing a simulation model and transmitting simulation data to the real-time simulator; the real-time simulator is used for receiving simulation data, processing the simulation data through the FPGA board card module to obtain an analog signal of current and voltage, and transmitting the analog signal to the controller; the nonlinear element in the FPGA board card module is modeled by adopting a piecewise linear model, and the characteristic of the modeled piecewise linear element is expressed by adopting a constant system matrix; the controller is used for processing the analog signals to obtain digital signals, and transmitting the digital signals to the FPGA board card module and the real-time simulator through the interface module. The invention can improve the simulation precision of the energy storage grid-connected testing system of the RT-LAB.
Description
Technical Field
The invention relates to the technical field of energy storage grid connection, in particular to an energy storage grid connection test system based on RT-LAB and a test method thereof.
Background
With the requirement of China on carbon neutralization, the use of clean energy becomes the current development trend, such as the clean energy power generation technology represented by solar energy and wind energy. However, clean energy sources are very susceptible to temperature, light, weather, etc., resulting in intermittency and instability in power generation. The rapid development of the energy storage technology provides a good way for solving the problems, so that the impact of a power generation system on a power grid can be reduced, the smooth regulation of output power is realized, and the power supply quality is improved.
At present, the simulation of the energy storage grid-connected test system in China only stays at a software stage, namely, technicians establish a simulation model through parameters of the energy storage grid-connected system, connect the simulation model in simulation software, and then input a simulation result into real equipment.
However, the actual operating state of the existing simulation system is different from that of the grid-connected system to a certain extent, and the simulation precision is low.
Disclosure of Invention
The embodiment of the invention provides an energy storage grid-connected testing system based on an RT-LAB and a testing method thereof, which aim to solve the problem of low simulation precision at present.
In a first aspect, an embodiment of the present invention provides an RT-LAB-based energy storage grid-connected test system, including:
the system comprises an upper simulation machine, an RT-LAB simulation system and a controller, wherein the RT-LAB simulation system comprises a real-time simulation machine, an FPGA board card module and an interface module;
the upper simulator is used for establishing a simulation model and transmitting simulation data to the real-time simulator;
the real-time simulator is used for receiving simulation data, processing the simulation data through the FPGA board card module to obtain an analog signal of current and voltage, and transmitting the analog signal to the controller; the nonlinear element in the FPGA board card module is modeled by adopting a piecewise linear model, and the characteristic of the modeled piecewise linear element is expressed by adopting a constant system matrix;
the controller is used for processing the analog signals to obtain digital signals, and transmitting the digital signals to the FPGA board card module and the real-time simulator through the interface module.
In one possible implementation mode, the FPGA board card module enables all reactive elements to be equivalent to a discrete network represented by resistance and the like, the switch on state of a switch device is equivalent to inductance, and the switch off state is equivalent to capacitance;
and respectively carrying out discretization treatment on the inductor and the capacitor, and respectively representing the inductor and the capacitor in parallel by a current source and a resistor.
In one possible implementation, in a discrete network, the piecewise linear element of any port is equivalent to a parallel structure of a resistor and a current source, and the conductance of the resistor is the only parameter affecting the system matrix.
In one possible implementation, the current source i sj Comprises the following steps:
i Sj ＝γ j C j +δ j ；
wherein, C j For the j-th modeled nonlinear element, it relies on all the independent sources in the discrete network, γ, except the current source j And delta j Is a constant value.
In one possible implementation mode, the simulation model is an energy storage grid-connected system, and the topological structure of the energy storage grid-connected system comprises an energy storage battery, a three-phase full-bridge inverter circuit and an LCL filter circuit;
direct current generated by the energy storage battery is processed by the three-phase full-bridge inverter circuit to generate three-phase alternating current, and the three-phase alternating current is filtered by the LCL filter circuit and then is connected to a power grid.
In one possible implementation, the simulation data includes electrical parameters required for use in the simulation and the topology of the simulation model.
In one possible implementation, the controller is an energy storage converter embedded controller;
the interface module comprises an analog interface and a digital interface, wherein the analog interface of the RT-LAB simulation system is connected with the energy storage converter embedded controller and is used for sending the three-phase voltage and current of the output node to the energy storage converter embedded controller;
and a digital interface of the RT-LAB simulation system is connected with the energy storage converter embedded controller and is used for receiving a control signal and a switching signal of the energy storage converter embedded controller.
In a possible implementation manner, the upper simulation machine is further used for displaying voltage and current waveforms obtained by simulation at the alternating current side.
In a second aspect, an embodiment of the present invention provides a test method for an RT-LAB-based energy storage grid-connected test system, including:
setting simulation working condition parameters of the simulation model and/or parameters of the controller;
and determining whether the energy storage grid-connected test system meets the grid-connected requirement or not according to the voltage and the current of the controller displayed on the upper computer.
In one possible implementation, the simulated operating condition parameters include at least one of: the power grid voltage, the power grid frequency, the direct current voltage, the filter inductor and the filter capacitor;
the controller is an energy storage converter embedded controller, and parameters of the energy storage converter embedded controller comprise a frequency filter coefficient and a proportional/integral coefficient.
The embodiment of the invention provides an energy storage grid-connected testing system based on an RT-LAB and a testing method thereof.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic structural diagram of an energy storage grid-connected test system based on RT-LAB provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a topology structure of an energy storage grid-connected system according to an embodiment of the present invention;
FIG. 3 is a schematic representation of any one of the single-port piecewise linear elements and the remainder of the discrete network provided by the embodiments of the present invention;
fig. 4 is a physical structure diagram of an RT-LAB-based energy storage grid-connected test system according to an embodiment of the present invention;
FIG. 5 is a diagram showing simulation results using the test system of FIG. 4;
fig. 6 is a graph comparing the results of current simulation using the test system of fig. 4 and using Simulink.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made by way of specific embodiments with reference to the accompanying drawings.
The simulation of the power system is mostly pure digital simulation, that is, technicians establish a simulation model and connect the simulation model in simulation software, and then input a simulation result into real equipment. With the rise of the smart grid, large-scale power electronic equipment is applied to the fields of energy storage system grid connection, distributed power sources, electric energy quality and the like, the switching frequency of a power electronic system is continuously improved, and due to the inaccuracy of a mathematical model and the influence of field interference factors, a simulation result is often far away from an actual result. Therefore, pure digital simulation has not been able to meet the needs of actual production life.
In order to solve the problems of the prior art, the embodiment of the invention provides an energy storage grid-connected testing system based on an RT-LAB and a testing method thereof. Firstly, the energy storage grid-connected testing system based on the RT-LAB provided by the embodiment of the invention is introduced below.
An energy storage grid-connected test system based on RT-LAB is shown in figure 1 and comprises an upper simulator, an RT-LAB simulation system and a controller.
The RT-LAB simulation system comprises a real-time simulator, an FPGA board card module and an interface module. The upper simulation machine is used for establishing a simulation model and transmitting simulation data to the real-time simulation machine. The real-time simulator is used for receiving simulation data, processing the simulation data through the FPGA board card module to obtain an analog signal of current and voltage, and transmitting the analog signal to the controller. Specifically, the nonlinear element in the FPGA board module is modeled by using a piecewise linear model, and the characteristic of the modeled piecewise linear element is represented by using a constant system matrix. The controller is used for processing the analog signals to obtain digital signals, and transmitting the digital signals to the FPGA board card module and the real-time simulator through the interface module.
The RT-LAB simulation system is a set of real-time simulation framework software package, is mainly used for semi-physical simulation, carries out modeling through modeling software carried by an upper simulation machine, puts a simulation model on a real-time simulation platform through the real-time simulation machine for operation, and then combines an actual controller with the RT-LAB simulation system to realize real-time simulation of the energy storage grid-connected test system.
The FPGA board card module is mainly used for being responsible for data transmission calculation between the controller and the real-time simulation machine and operation of the model, and has higher design flexibility and higher calculation speed, so that the requirement of high-speed real-time simulation can be met. The FPGA board card module is also provided with a freely configurable hardware logic circuit, and a developer can modify the internal circuit of the FPGA board card module according to requirements to realize different functions. In addition, the FPGA is a parallel computing device, and the data computing processing and operation speed is higher. The hardware link is added in the control or test loop, so that the method is substantially closer to a real experiment, and the restriction of environmental conditions in the whole experiment is solved, and the method has authenticity and controllability.
In some embodiments, the simulation data includes electrical parameters required for use in the simulation and the topology of the simulation model.
Wherein, the electrical parameters needed to be used in the simulation include: the power grid voltage, the power grid frequency, the direct current voltage, the filter inductor and the filter capacitor. Frequency filter coefficients and proportional/integral coefficients of the controller.
In this embodiment, the simulation model is an energy storage grid-connected system, and a topology structure of the energy storage grid-connected system includes an energy storage battery, a three-phase full-bridge inverter circuit, and an LCL filter circuit, as shown in fig. 2. Direct current generated by the energy storage battery is processed by the three-phase full-bridge inverter circuit to generate three-phase alternating current, and the three-phase alternating current is filtered by the LCL filter circuit and then is connected to a power grid.
In some embodiments, the controller is an energy storage converter embedded controller, and compiling of the main control algorithm code can be achieved.
In this embodiment, the interface module includes an analog interface and a digital interface. And the simulation interface of the RT-LAB simulation system is connected with the embedded controller of the energy storage converter and is used for sending the three-phase voltage and current of the output node to the embedded controller of the energy storage converter. And a digital interface of the RT-LAB simulation system is connected with the energy storage converter embedded controller and is used for receiving a control signal and a switching signal of the energy storage converter embedded controller.
In this embodiment, the upper simulation machine is also used for displaying the voltage and current waveforms obtained by the ac side simulation.
In some embodiments, there are a large number of existing simulation tools, such as Spice or Saber, equipped with detailed models to represent nonlinear devices, but for optimization tasks that require repeated simulations, the use of generic tools for complex nonlinear device models may result in lengthy simulation times, inaccurate models, and convergence problems.
Therefore, the FPGA board card module enables all the reactive elements to be equivalent to a discrete network represented by resistance and the like, the switch on state of the switch device is equivalent to inductance, and the switch off state is equivalent to capacitance. And respectively carrying out discretization treatment on the inductor and the capacitor, and respectively representing the inductor and the capacitor in parallel by using a current source and a resistor.
In the embodiment, the nonlinear element in the FPGA board card module is modeled by adopting the piecewise linear model, so that the real-time simulation system can be more fit with a real running state, and better simulation precision and simulation results are achieved.
In this embodiment, it is assumed that the space defining the feature of the element is divided into several sections, and each section is linear. Each reactive element in the original network is equivalently replaced by a discrete time circuit model, the on state of a switch is equivalently changed into small inductance, the off state of the switch is equivalently changed into small capacitance, and the circuit is formed by connecting a resistor and a current source in parallel.
The inductance discretization can be expressed as: i is L (t)＝I L.History (t-Δt)+G sj ·U L (t)；
The capacitance discretization can be expressed as: i is C (t)＝I CHistory (-Δt)+G sj ·U C (t)；
After the discretization of the visible inductance and the capacitance, the visible inductance and the capacitance can be represented by a current source parallel resistor, and the value of the admittance of the resistor is G in the formula sj Represents:
G sj ＝Δt/2L＝2C/Δt；
consider an arbitrary single port piecewise linear element, abbreviated PWL element, denoted as j. In a given state, the element is characterized in that:
a j v j +b j i j ＝c j
wherein v is j And i j Is the voltage and current of the PWL element, and a j 、b j And c j Is a constant parameter for a given state.
In a discrete network, the PWL element of any port is equivalent to a parallel configuration of a resistor and a current source, as shown in fig. 3, and fig. 3 is a representation of any one single-port piecewise linear element and the rest of the discrete network. Conductance G sj Is a constant value, and only the current source i is adjusted sj The element characteristics can be satisfied. Conductance G sj Is the only parameter that affects the system matrix, so the system matrix is also constant, regardless of the state of the PWL elements.
How to select the current source value to accurately satisfy any PWL element characteristics is specifically:
if the states of all PWL elements are known, the remainder of the discrete network can be represented as:
A j v j +B j i j ＝C j ；
wherein, the parameter A j And B j Independent of the state of the PWL element, whereas in representing the jth PWL element, parameter C j Dependent on the source of electricity i in discrete networks sj All but independent sources.
Suppose A j ,B j ,C j When known, the current source i sj The requirements are as follows:
as can be seen from the above equation, the current source i sj Is a parameter C j Linear function of (2), and parameter C j Relying on other sources in the discrete network. Parameter gamma j And delta j Calculated only once at the beginning of the simulation and stored in oneIn the table, for all PWL elements and all states thereof.
In some embodiments, the upper simulation machine is a computer provided with a Windows or Linux operating system, software such as Matlab/simulink and RT-LAB is installed, and a model for grid connection of an upper computer monitoring interface and an energy storage system is loaded.
In this embodiment, the upper simulation machine and the real-time simulation machine are connected by using an ethernet.
The real-time simulator is loaded with monitoring system programming software, is a platform capable of enabling a simulation model to run in real time, and can detect whether an algorithm is reasonable or not, so that real-time online compiling and modifying are realized.
The simulation steps of the real-time simulation machine are as follows: firstly, a real-time simulator is selected, then a simulation model is decomposed, and then a generated C code, a compiled C code and a transferred and compiled model are generated.
According to the energy storage grid-connected testing system provided by the invention, the FPGA board card module is added in the RT-LAB simulation system, the nonlinear element in the FPGA board card module is modeled by adopting the piecewise linear model, and the characteristic of the modeled piecewise linear element is expressed by adopting a constant system matrix, so that the RT-LAB simulation system can be more attached to the real running state of the energy storage grid-connected system, and the simulation precision is higher.
On the other hand, the invention also provides a test method of the energy storage grid-connected test system based on the RT-LAB, which comprises the following steps:
and S110, setting simulation working condition parameters of the simulation model and/or parameters of the controller.
In some embodiments, the simulation operating condition parameters of the simulation model include at least one of: power grid voltage, power grid frequency, direct current voltage, filter inductance and filter capacitance.
Specifically, the dc voltage may be set as: 800V, 415V of power grid voltage, 50HZ of frequency and 5 multiplied by 10 of filter inductance -4 Filter capacitance of 1 x 10 -4 。
In this embodiment, the controller is an energy storage converter embedded controller, and the parameters of the energy storage converter embedded controller include a frequency filter coefficient and a proportional/integral coefficient.
And S120, determining whether the energy storage grid-connected test system meets the grid-connected requirement or not according to the voltage and the current of the controller displayed on the upper computer.
The energy storage converter embedded controller is connected into the RT-LAB simulation system, so that the test result is closer to the actual working condition.
An FPGA board card module is added in the RT-LAB simulation system, so that the simulation system based on the FPGA is established. In a simulation system of an FPGA, a nonlinear element is modeled by adopting a piecewise linear approximation method. The system matrix method accurately supporting the characteristics of any piecewise linear element is applied, so that the real-time simulation system can be attached to the real running state of the system, and the simulation precision and the simulation result are very good.
In order to verify the accuracy of the RT-LAB-based energy storage grid-connected test system provided by the invention, a topological structure of the energy storage grid-connected system shown in FIG. 2 is established, and the energy storage grid-connected system is simulated. The constructed energy storage grid-connected testing system based on the RT-LAB is shown in figure 4.
Wherein, the direct current voltage is: 800V, 415V of power grid voltage, 50HZ of frequency and 5 multiplied by 10 of filter inductance -4 Filter capacitance of 1 x 10 -4 。
The simulation result of the alternating current side displayed in the upper computer is shown in fig. 5, and the control performance of the voltage and the current of the controller can be accurately reflected according to the voltage and current waveforms, so that the performance of the whole energy storage grid-connected system can be reflected.
Fig. 6 is a comparison graph of current results of simulation using the present system and simulation using Simulink, where the cross symbol in the graph represents the real-time simulation result of the present system, and the dotted line represents the Simulink digital simulation result. As can be seen from the figure, compared with Simulink pure digital simulation, the system has similar simulation results, and the feasibility and the accuracy of the system are reflected.
The invention utilizes the RT-LAB platform to build the multi-segment linear network simulation system based on the FPGA, and utilizes the system matrix method which accurately supports the characteristics of any multi-segment linear element, thereby providing a safe and reliable platform for the FPGA simulation system. In order to verify the effectiveness of the system, a semi-physical simulation system for energy storage grid connection is established, and the accuracy of the system is proved through experimental verification. Thus, modeling accuracy can be improved over existing switching circuit power electronic simulators while maintaining speed advantages over general purpose simulation tools.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. An energy storage grid-connected test system based on RT-LAB is characterized by comprising:
the system comprises an upper simulator, an RT-LAB simulation system and a controller, wherein the RT-LAB simulation system comprises a real-time simulator, an FPGA board card module and an interface module;
the upper simulation machine is used for establishing a simulation model and transmitting simulation data to the real-time simulation machine;
the real-time simulator is used for receiving the simulation data, processing the simulation data through the FPGA board card module to obtain a current and voltage analog signal and transmitting the analog signal to the controller; the nonlinear element in the FPGA board card module is modeled by adopting a piecewise linear model, and the characteristic of the modeled piecewise linear element is expressed by adopting a constant system matrix;
the controller is used for processing the analog signals to obtain digital signals, and transmitting the digital signals to the FPGA board card module and the real-time simulation machine through the interface module.
2. The energy storage grid-connected testing system of claim 1, wherein the FPGA board card module equates all reactive elements into a discrete network represented by resistance and the like, equates the switch on state of a switch device into an inductance, and equates the switch off state into a capacitance;
and respectively carrying out discretization treatment on the inductor and the capacitor, and respectively representing the inductor and the capacitor in parallel by a current source and a resistor.
3. The energy storage grid-connected testing system according to claim 2, wherein in a discrete network, the piecewise linear element of any port is equivalent to a parallel structure of a resistor and a current source, and the conductance of the resistor is the only parameter affecting the system matrix.
4. The energy storage grid-connected testing system according to claim 3, wherein the current source i sj Comprises the following steps:
i Sj ＝γ j C j +δ j ；
wherein, C j For the j-th modeled nonlinear element, it depends on all independent sources in the discrete network except the current source, γ j And delta j Is a constant value.
5. The energy storage grid-connected test system according to claim 1, wherein the simulation model is an energy storage grid-connected system, and the topology structure of the energy storage grid-connected system comprises an energy storage battery, a three-phase full-bridge inverter circuit and an LCL filter circuit;
the direct current that energy storage battery sent is through three-phase full-bridge inverter circuit processing back, generates three-phase alternating current, the three-phase alternating current inserts the electric wire netting after the LCL filter circuit filters.
6. The energy storage grid-connection testing system according to claim 5, wherein the simulation data comprises electrical parameters required to be used in simulation and a topology of the simulation model.
7. The energy storage grid-connected testing system of claim 1, wherein the controller is an energy storage converter embedded controller;
the interface module comprises an analog interface and a digital interface, and the analog interface of the RT-LAB simulation system is connected with the energy storage converter embedded controller and is used for sending the three-phase voltage and current of the output node to the energy storage converter embedded controller;
and a digital interface of the RT-LAB simulation system is connected with the energy storage converter embedded controller and is used for receiving a control signal and a switching signal of the energy storage converter embedded controller.
8. The energy storage grid-connected testing system of claim 1, wherein the upper simulator is further configured to display voltage and current waveforms obtained through simulation at an ac side.
9. The testing method of the energy storage grid-connected testing system based on any one of claims 1 to 8 is characterized by comprising the following steps:
setting simulation working condition parameters of the simulation model and/or parameters of the controller;
and determining whether the energy storage grid-connected test system meets the grid-connected requirement or not according to the voltage and the current of the controller displayed on the upper computer.
10. The testing method of the energy storage grid-connected testing system according to claim 9, wherein the simulation operating condition parameters include at least one of: the power grid voltage, the power grid frequency, the direct current voltage, the filter inductor and the filter capacitor;
the controller is an energy storage converter embedded controller, and parameters of the energy storage converter embedded controller comprise a frequency filter coefficient and a proportional/integral coefficient.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115933443A (en) * | 2023-03-02 | 2023-04-07 | 国网江西省电力有限公司电力科学研究院 | Fan modeling method based on RT-LAB hardware in-loop and PSASP joint inspection |
| CN117762043A (en) * | 2024-02-22 | 2024-03-26 | 国网上海能源互联网研究院有限公司 | flexible-straight interconnection hardware-in-loop simulation system and testing method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115933443A (en) * | 2023-03-02 | 2023-04-07 | 国网江西省电力有限公司电力科学研究院 | Fan modeling method based on RT-LAB hardware in-loop and PSASP joint inspection |
| CN115933443B (en) * | 2023-03-02 | 2023-05-16 | 国网江西省电力有限公司电力科学研究院 | Fan modeling method based on joint inspection of RT-LAB hardware in loop and PSASP |
| CN117762043A (en) * | 2024-02-22 | 2024-03-26 | 国网上海能源互联网研究院有限公司 | flexible-straight interconnection hardware-in-loop simulation system and testing method |
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