CN102799765B - The real-time unfixed point interpolation computing method of switch in a kind of step-length - Google Patents
The real-time unfixed point interpolation computing method of switch in a kind of step-length Download PDFInfo
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Abstract
本发明涉及一种步长内开关实时不定点插值计算方法。该方法包括下述步骤：对电磁暂态第一个步长点状态值进行计算，发现步长内有开关动作；对开关动作点状态值进行内插值计算；从开关动作点对下一个步点长状态值进行计算；从当前步长点外插值到下一计算整步长点。该方法进行开关特性电路计算的时候，能够提高开关子网的计算速度，有利于实时性计算。从而为开关计算的精度提高提供时间裕度，可应用于实时、超实时、离线计算的开关特性电路的电磁暂态仿真计算中，其中整步长计算能够与各种电磁暂态开关算法相兼容且不限于如梯形积分法、后退欧拉法、带阻尼的梯形积分法或其修改变更组合，能有效提高仿真的计算速度和精度，优化电磁暂态实时计算性能。
The invention relates to a real-time uncertain-point interpolation calculation method for a switch within a step. The method includes the following steps: calculating the state value of the first step point in the electromagnetic transient state, and finding that there is a switch action in the step length; performing interpolation calculation on the state value of the switch action point; calculating the next step point from the switch action point Calculate the long state value; extrapolate from the current step point to the next computed full step point. When the method calculates the switching characteristic circuit, the calculation speed of the switch subnet can be improved, which is beneficial to real-time calculation. Thereby providing a time margin for improving the accuracy of switching calculations, which can be applied to the electromagnetic transient simulation calculation of switching characteristic circuits in real-time, super real-time, and off-line calculations, and the full-step calculation can be compatible with various electromagnetic transient switching algorithms And not limited to such as trapezoidal integration method, backward Euler method, trapezoidal integration method with damping or its modified combination, which can effectively improve the calculation speed and accuracy of simulation, and optimize the real-time calculation performance of electromagnetic transient state.
Description
技术领域technical field
本发明涉及一种计算方法，具体涉及一种步长内开关实时不定点插值计算方法。The invention relates to a calculation method, in particular to a real-time uncertain-point interpolation calculation method of a switch within a step.
背景技术Background technique
时域仿真已经成为电力系统分析、设计和研究的重要工具，随着电力电子技术的广泛应用，柔性交流输电、高压直流输电以及分布式发电在内的电力系统各个环节中，特别是大量可再生能源发电设备一般都需要通过电力电子变流器才能接入电网中，而电力电子开关这种本质上随时间不断变化的网络拓扑结构对传统的电力系统时域仿真提出了新的要求和挑战，尤其是电磁暂态的实时仿真方面，在如何确保计算实时性的前提下，计算频繁和非整步长时间点的电力电子开关动作，是一个棘手的技术难点。Time-domain simulation has become an important tool for power system analysis, design and research. With the wide application of power electronics technology, flexible AC transmission, high-voltage direct current Energy generation equipment generally needs to be connected to the power grid through power electronic converters, and the network topology of power electronic switches, which essentially changes with time, poses new requirements and challenges for traditional power system time-domain simulations. Especially in the real-time simulation of electromagnetic transients, on the premise of ensuring the real-time performance of the calculation, it is a thorny technical difficulty to calculate the power electronic switching action at frequent and non-full-step long-term points.
发明内容Contents of the invention
针对现有技术的不足，本发明提供一种步长内开关实时不定点插值计算方法，该方法在现有电力系统电磁暂态软件等的基础上，进行开关特性电路计算的时候，能够提高开关子网的计算速度，有利于实时性计算。从而为开关计算的精度提高提供时间裕度，可应用于实时、超实时、离线计算的包含电力电子开关、高频电气开关等开关特性电路的电磁暂态仿真计算中，其中整步长计算能够与各种电磁暂态开关算法相兼容且不限于如：梯形积分法、后退欧拉法、带阻尼的梯形积分法或其修改变更组合等，能有效提高仿真的计算速度和精度，优化电磁暂态实时计算性能。Aiming at the deficiencies of the prior art, the present invention provides a real-time uncertain-point interpolation calculation method for switches within a step, which can improve the switching performance when calculating the switching characteristic circuit on the basis of the existing power system electromagnetic transient software. The calculation speed of the subnet is conducive to real-time calculation. This provides a time margin for improving the accuracy of switch calculations, and can be applied to electromagnetic transient simulation calculations for real-time, super-real-time, and off-line calculations including power electronic switches, high-frequency electrical switches, and other switching characteristic circuits. The full-step calculation can Compatible with various electromagnetic transient switching algorithms and not limited to: trapezoidal integral method, back-off Euler method, trapezoidal integral method with damping or its modified combination, etc., can effectively improve the calculation speed and accuracy of simulation, and optimize the electromagnetic transient state. State real-time computing performance.
本发明的目的是采用下述技术方案实现的：The object of the present invention is to adopt following technical scheme to realize:
一种步长内开关实时不定点插值计算方法，其改进之处在于，所述方法包括下述步骤：A real-time uncertain point interpolation calculation method for switches within a step, the improvement of which is that the method includes the following steps:
A、对电磁暂态第一个步长点状态值进行计算，发现步长内有开关动作；A. Calculate the state value of the first step point in the electromagnetic transient state, and find that there is a switch action within the step;
B、对开关动作点状态值进行内插值计算；B. Perform interpolation calculation on the state value of the switch action point;
C、从所述开关动作点对下一个步点长状态值进行计算；C. Calculate the long state value of the next step point from the switch action point;
D、从当前步长点外插值到下一计算整步长点。D. Extrapolation from the current step point to the next calculation full step point.
优选的，所述步骤B中，基于上一步的状态值x1和当前步长点状态值x2，对所述开关动作点k1时刻的状态值xk1进行内插值计算，所述xk1用下述①式表示：Preferably, in the step B, based on the state value x 1 of the previous step and the state value x 2 of the current step point, an interpolation calculation is performed on the state value x k1 at the moment of the switch action point k1, and the x k1 is calculated by The following formula ① expresses:
①； ①;
式中：xk1是开关动作点k1时刻的状态值；tk1是k1时刻时间点；t1是状态值x1所在的整计算步长时刻；Δt是一个标准整计算步长的时间长度。In the formula: x k1 is the state value at the moment of switch action point k1; t k1 is the time point at time k1 ; t1 is the time of the whole calculation step where the state value x1 is located; Δt is the time length of a standard whole calculation step.
优选的，所述步骤C中，从所述开关动作点xk1采用电磁开关算法对下一个步点长状态值xk1s进行计算。Preferably, in the step C, the state value x k1s of the next step point is calculated by using the electromagnetic switch algorithm from the switch action point x k1 .
较优选的，其特征在于，所述电磁开关算法采用梯形积分法、后退欧拉法、带阻尼的梯形积分法或其修改变更组合。More preferably, it is characterized in that the electromagnetic switch algorithm adopts trapezoidal integral method, backward Euler method, trapezoidal integral method with damping or a modified combination thereof.
优选的，所述步骤D中，从步骤C当前的步长点的状态值xk1s外插值下一计算整步长点状态值x3，所述x3用下述②式表示：Preferably, in the step D, the state value x 3 of the full step point is extrapolated from the state value x k1s of the current step point in step C, and the state value x 3 of the full step point is calculated, and the x 3 is expressed by the following ② formula:
②； ②;
式中：x3为下一计算整步长点状态值；t3是状态值x3所在的整计算步长时刻。In the formula: x 3 is the state value of the next calculation full step point; t 3 is the full calculation step time where the state value x 3 is located.
优选的，所述方法在每一步计算之后，无论是采用后退欧拉法、隐式梯形积分法、带阻尼的梯形积分法或其修改变更组合，都要进行事件搜索和处理。事件搜索是在计算一个步长后，就要检测本步长内是否有计算中未曾考虑的开关动作、网络结构变化等，如果有，就要进行处理，所谓处理就是采用本发明的方法内插值或外插值计算。Preferably, after each calculation step of the method, event search and processing should be carried out no matter whether it adopts the backward Euler method, the implicit trapezoidal integration method, the trapezoidal integration method with damping or its modified combination. Event search is after calculating a step length, it is necessary to detect whether there are switch actions, network structure changes, etc. that have not been considered in the calculation in this step length. If there is, it will be processed. The so-called processing is to use the method of the present invention to interpolate or extrapolation calculations.
内插值算法的待求量是在当前计算的步长周期内部的某个计算时刻的状态值，采用已知的状态值对步长跨度内的某个状态值进行线性插值计算；外插值算法的待求量是在当前计算的步长周期外部的某个计算时刻的状态值，采用已知的状态值对步长跨度外的状态值进行线性插值计算。The required quantity of the interpolation algorithm is the state value at a certain calculation time within the current calculation step period, and the known state value is used to perform linear interpolation calculation on a certain state value within the step span; the extrapolation algorithm The quantity to be requested is the state value at a certain calculation moment outside the current calculation step period, and the known state value is used to perform linear interpolation calculation on the state value outside the step span.
与现有技术比，本发明达到的有益效果是：Compared with prior art, the beneficial effect that the present invention reaches is:
1、本发明提出本发明提供一种步长内开关实时不定点插值计算方法，为解决一个步长内发生多个开关动作的电力系统电路在电磁暂态仿真中速度和精度不能满足计算要求而提出本发明，本发明采用新型的开关计算设计方法,应对一个步长内发生多开关计算的情况，能大幅降低含开关特性电路的电磁暂态计算的计算量和计算时间，可应用于实时、超实时、离线计算的包含电力电子开关、高频电气开关等开关特性电路的电磁暂态仿真计算中，能够与各种电磁暂态开关算法相兼容，有效提高仿真的计算速度和精度，优化电磁暂态实时计算性能。1. The present invention proposes that the present invention provides a real-time variable-point interpolation calculation method for switches within a step, in order to solve the problem that the speed and accuracy of a power system circuit with multiple switching actions within one step cannot meet the calculation requirements in the electromagnetic transient simulation. The present invention is proposed. The present invention adopts a novel switch calculation design method, which can greatly reduce the calculation amount and calculation time of the electromagnetic transient calculation of circuits with switch characteristics, and can be applied to real-time, In the electromagnetic transient simulation calculation of ultra-real-time and off-line calculations including switching characteristic circuits such as power electronic switches and high-frequency electrical switches, it can be compatible with various electromagnetic transient switching algorithms, effectively improve the calculation speed and accuracy of simulation, and optimize the electromagnetic Transient real-time computing performance.
2、本发明在现有电力系统电磁暂态软件等的基础上，进行开关特性电路计算的时候，能够提高开关子网的计算速度，有利于实时性计算。从而为开关计算的精度提高提供时间裕度，可应用于实时、超实时、离线计算的包含电力电子开关、高频电气开关等开关特性电路的电磁暂态仿真计算中，其中整步长计算能够与各种电磁暂态开关算法相兼容且不限于如：梯形积分法、后退欧拉法、带阻尼的梯形积分法或其修改变更组合等，能有效提高仿真的计算速度和精度，优化电磁暂态实时计算性能。2. On the basis of the existing electric power system electromagnetic transient software, etc., the present invention can improve the calculation speed of the switch subnet when calculating the switching characteristic circuit, which is beneficial to real-time calculation. This provides a time margin for improving the accuracy of switch calculations, and can be applied to electromagnetic transient simulation calculations for real-time, super-real-time, and off-line calculations including power electronic switches, high-frequency electrical switches, and other switching characteristic circuits. The full-step calculation can Compatible with various electromagnetic transient switching algorithms and not limited to: trapezoidal integral method, back-off Euler method, trapezoidal integral method with damping or its modified combination, etc., can effectively improve the calculation speed and accuracy of simulation, and optimize the electromagnetic transient state. State real-time computing performance.
3、本发明在一个步长单个或多个开关动作的情况下，采用内插值的算法能够快速计算各个开关的状态量，由于内插值计算的速度很快，能够提高计算速度,有利于实时计算的实现。3. In the case of single or multiple switch actions in one step, the present invention can quickly calculate the state quantities of each switch by using an interpolation algorithm. Since the calculation speed of the interpolation value is very fast, the calculation speed can be improved, which is conducive to real-time calculation realization.
4、本发明最大程度上减少了多步整步长计算的次数，无论一个步长内开关动作多少次，开关状态点是用插值计算的，本发明的方法设计对于提高仿真计算的速度和实时仿真计算的时间可靠性有非常重要的意义。4. The present invention reduces the number of multi-step full step calculations to the greatest extent. No matter how many times the switch is moved in one step, the switch state point is calculated by interpolation. The method design of the present invention is very important for improving the speed of simulation calculation and real-time The time reliability of simulation calculation is very important.
附图说明Description of drawings
图1是本发明提供的步长内开关实时不定点插值计算方法的计算步骤图，其中，①为定点定步长计算；②为内插值计算；③为不定点定步长计算；为开关动作时刻点；☆为定点步长连接时间点；⑥为外插值计算；Fig. 1 is the calculation step diagram of the real-time variable-point interpolation calculation method of the switch in the step size provided by the present invention, wherein, 1. is fixed-point fixed-step calculation; 2. is interpolation value calculation; 3. is variable-point fixed-step calculation; is the switch action time point; ☆ is the fixed-point step length connection time point; ⑥ is the extrapolation calculation;
图2是本发明提供的步长内开关实时不定点插值计算方法的工作流程图；Fig. 2 is the working flowchart of the real-time uncertain point interpolation calculation method of the switch in the step provided by the present invention;
图3是本发明提供的具体实施例的一个步长内有更多个开关动作的情况下的计算步骤图，其中：①为定点定步长计算；②和④为内插值计算；③和⑤为不定点定步长计算；为开关动作时刻点；☆为定点步长连接时间点；⑥为外插值计算。Fig. 3 is the calculation step diagram under the situation that there are more switch actions in a step size of the specific embodiment provided by the present invention, wherein: ① is fixed-point fixed step size calculation; ② and ④ are interpolation value calculations; ③ and ⑤ Calculation with a fixed step size for an indeterminate point; is the switch action time point; ☆ is the fixed-point step length connection time point; ⑥ is the extrapolation calculation.
具体实施方式detailed description
下面结合附图对本发明的具体实施方式作进一步的详细说明。The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.
本发明提供的步长内开关实时不定点插值计算方法的计算步骤图和工作流程图分别如图1和2所示，该方法包括下述步骤：The calculation step chart and the work flow chart of the real-time uncertain point interpolation calculation method of the switch in the step provided by the present invention are shown in Figures 1 and 2 respectively, and the method comprises the following steps:
A、对电磁暂态第一个步长点状态值进行计算，发现步长内有开关动作；A. Calculate the state value of the first step point in the electromagnetic transient state, and find that there is a switch action within the step;
B、对开关动作点状态值进行内插值计算：基于上一步的状态值x1和当前步长点状态值x2，对所述开关动作点k1时刻的状态值xk1进行内插值计算，所述xk1用下述①式表示：B. Perform interpolation calculation on the state value of the switch action point: based on the state value x 1 of the previous step and the state value x 2 of the current step point, perform interpolation calculation on the state value x k1 at the moment of the switch action point k1. Said x k1 is represented by the following formula ①:
①； ①;
式中：xk1为开关动作点k1时刻的状态值；tk1为k1时刻时间点；t1是状态值x1所在的整计算步长时刻；Δt是一个标准整计算步长的时间长度。In the formula: x k1 is the state value at the moment of switch action point k1; t k1 is the time point at time k1 ; t1 is the time of the whole calculation step where the state value x1 is located; Δt is the time length of a standard whole calculation step.
C、从所述开关动作点对下一个步点长状态值进行计算：从开关动作点xk1采用电磁开关算法对下一个步点长状态值xk1s进行计算。C. Calculating the next step length state value from the switch action point: calculating the next step length state value x k1s from the switch action point x k1 using the electromagnetic switch algorithm.
电磁开关算法采用梯形积分法、后退欧拉法、带阻尼的梯形积分法或其修改变更组合。The electromagnetic switch algorithm adopts trapezoidal integral method, backward Euler method, trapezoidal integral method with damping or its modified combination.
D、从当前步长点外插值到下一计算整步长点：从步骤C当前的步长点的状态值xk1s外插值下一计算整步长点状态值x3，所述x3用下述②式表示：D. From the extrapolation of the current step point to the next calculation of the full step point: extrapolation from the state value x k1s of the current step point in step C to the next calculation of the state value of the full step point x 3 , the x 3 is used The following formula ② expresses:
②； ②;
式中：x3为下一计算整步长点状态值；t3是状态值x3所在的整计算步长时刻。In the formula: x 3 is the state value of the next calculation full step point; t 3 is the full calculation step time where the state value x 3 is located.
在每一步计算之后，无论是采用后退欧拉法、隐式梯形积分法、带阻尼的梯形积分法或其修改变更组合，都要进行事件搜索和处理。事件搜索是在计算一个步长后，就要检测本步长内是否有计算中未曾考虑的开关动作、网络结构变化等，如果有，就要进行处理，所谓处理就是采用本发明的方法内插值或外插值计算。After each calculation step, whether using the backward Euler method, the implicit trapezoidal integration method, the damped trapezoidal integration method, or a combination of modified changes, an event search and processing is performed. Event search is after calculating a step length, it is necessary to detect whether there are switch actions, network structure changes, etc. that have not been considered in the calculation in this step length. If there is, it will be processed. The so-called processing is to use the method of the present invention to interpolate or extrapolation calculations.
下面结合具体实施例对本发明作进一步的详细说明。The present invention will be further described in detail below in conjunction with specific embodiments.
实施例Example
本发明提供的具体实施例的一个步长内有更多个开关动作的情况下的计算步骤图如图3所示，包括如下步骤：The calculation steps in the case of more switch actions in one step of the specific embodiment provided by the present invention are shown in Figure 3, including the following steps:
（1）进行第一个步长的计算，发现步长内有开关动作；(1) Carry out the calculation of the first step length, and find that there is a switch action within the step length;
（2）对第一个开关动作点的状态值进行内插值计算：基于前一步长点的状态值x1和这一步长点的状态值x2，对第一个开关动作点k1时刻的状态值xk1进行内插值计算，xk1用下述①式表示：(2) Calculate the interpolation value of the state value of the first switch action point: based on the state value x 1 of the previous step point and the state value x 2 of this step point, the state of the first switch action point at k1 The value x k1 is used for interpolation calculation, and x k1 is expressed by the following formula ①:
①； ①;
式中：xk1为第一个开关动作点k1时刻的状态值；tk1为k1时刻时间点；t1是状态值x1所在的整计算步长时刻；Δt是一个标准整计算步长的时间长度。In the formula: x k1 is the state value of the first switching action point k1; t k1 is the time point of k1 ; t 1 is the time of the whole calculation step of the state value x1; Δt is the time of a standard whole calculation step length of time.
（3）从第一个开关动作点xk1进行下一个步长点xk1s的计算；(3) Calculate the next step point x k1s from the first switch action point x k1 ;
（4）发现第二个开关动作点，基于第一个开关动作点的状态值xk1和步长计算点x2的状态值，对第二个开关计算点的状态值xk2进行内插值计算，xk2用下述③式表示：(4) Find the second switch action point, based on the state value x k1 of the first switch action point and the state value of the step size calculation point x 2 , perform interpolation calculation on the state value x k2 of the second switch calculation point , x k2 is expressed by the following formula ③:
③； ③;
式中：xk2为对第二个开关动作点k2时刻状态值；tk2为k2时刻时间点；t2是状态值x2所在的整计算步长时刻。In the formula: x k2 is the state value of the second switch action point k2; t k2 is the time point of k2; t 2 is the whole calculation step time of the state value x 2 .
（5）从第二个开关动作点的状态值xk2采用带阻尼隐式梯形积分法、后退欧拉法、带阻尼的梯形积分法或其修改变更组合进行下一个步长点状态值xk2s的计算；(5) From the state value x k2 of the second switch action point, use the implicit trapezoidal integration method with damping, the backward Euler method, the trapezoidal integration method with damping or its modified combination to carry out the state value x k2s of the next step point calculation;
（6）从上一步当前步长点xk2s外插值到下一计算整步长点的状态值x3，x3用下述②式表示：(6) From the extrapolation value of the current step point x k2s in the previous step to the state value x 3 of the next calculated full step point, x 3 is expressed by the following ② formula:
②； ②;
式中：x3为下一计算整步长点状态值；t3是状态值x3所在的整计算步长时刻。In the formula: x 3 is the state value of the next calculation full step point; t 3 is the full calculation step time where the state value x 3 is located.
在每一步计算之后，无论是采用后退欧拉法、隐式梯形积分法、带阻尼的梯形积分法或其修改变更组合，都要进行事件搜索和处理。事件搜索是在计算一个步长后，就要检测本步长内是否有计算中未曾考虑的开关动作、网络结构变化等，如果有，就要进行处理，所谓处理就是采用本发明的方法内插值或外插值计算。After each calculation step, whether using the backward Euler method, the implicit trapezoidal integration method, the damped trapezoidal integration method, or a combination of modified changes, an event search and processing is performed. Event search is after calculating a step length, it is necessary to detect whether there are switch actions, network structure changes, etc. that have not been considered in the calculation in this step length. If there is, it will be processed. The so-called processing is to use the method of the present invention to interpolate or extrapolation calculations.
最后应当说明的是：以上实施例仅用以说明本发明的技术方案而非对其限制，尽管参照上述实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者等同替换，而未脱离本发明精神和范围的任何修改或者等同替换，其均应涵盖在本发明的权利要求范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: the present invention can still be Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the scope of the claims of the present invention.
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