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CN114154446B - DC power system dynamic characteristic analysis method based on mixed time scale modeling - Google Patents

DC power system dynamic characteristic analysis method based on mixed time scale modeling Download PDF

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CN114154446B
CN114154446B CN202111346731.8A CN202111346731A CN114154446B CN 114154446 B CN114154446 B CN 114154446B CN 202111346731 A CN202111346731 A CN 202111346731A CN 114154446 B CN114154446 B CN 114154446B
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陈鹏伟
卢亮
刘念
孙雅旻
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Nanjing University of Aeronautics and Astronautics
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Abstract

本发明实施例公开了一种基于混合时间尺度建模的直流电力系统动态特性分析方法，涉及直流配电的电力电子化系统技术领域，能够提升数字电磁暂态分析的高效性。本发明包括：建立直流电力系统的EMT子系统和DP子系统；将建立的EMT子系统导入至FPGA1中，建立的DP子系统导入至FPGA2中；根据EMT子系统和DP子系统的外特性建立接口计算模块，并部署在FPGA3上；在初始化后，所述EMT子系统进行n次单步长分析、所述DP子系统一次单步长分析，直至达到交互时刻；将分析的结果输出至终端设备。

The embodiment of the present invention discloses a method for analyzing the dynamic characteristics of a DC power system based on hybrid time scale modeling, which relates to the technical field of power electronic systems for DC power distribution and can improve the efficiency of digital electromagnetic transient analysis. The present invention includes: establishing an EMT subsystem and a DP subsystem of a DC power system; importing the established EMT subsystem into FPGA1, and importing the established DP subsystem into FPGA2; establishing an interface calculation module according to the external characteristics of the EMT subsystem and the DP subsystem, and deploying it on FPGA3; after initialization, the EMT subsystem performs n single-step analysis and the DP subsystem performs one single-step analysis until the interaction moment is reached; and outputting the analysis results to a terminal device.

Description

DC power system dynamic characteristic analysis method based on mixed time scale modeling
Technical Field
The invention relates to the technical field of power electronic systems of direct-current power distribution, in particular to a method for analyzing dynamic characteristics of a direct-current power system based on mixed time scale modeling.
Background
As an important carrier integrating absorption, high-efficiency access of electric automobiles, capacity increase of power distribution network transformation and comprehensive energy systems, direct-current power distribution becomes one of the development directions of future power grids and even energy Internet. However, the direct current power system receives an alternating current main network, a low voltage distribution network, a wind power generation system, a photovoltaic power generation system and other new energy power generation systems, both ends of a source and a load are highly power-electronized, and along with the improvement of capacity power level and the increase of the number of power electronic devices, the power electronic system is extremely complex in the construction of a power electronic converter and a control protection strategy.
As an important means of analyzing and verifying the safety, stability and power quality characteristics of a multi-terminal direct current power system, transient analysis of the power system is not limited by the scale and structural complexity of the system. But the increase in system scale and the extension of the switching frequency of the device will make its contradiction in terms of electromagnetic transient simulation efficiency more prominent (it is often necessary to set the integration step size to 1/10 of the switching period or even less). If the dynamic and static characteristic research is performed based on a full-system detailed model and small-scale integration step-by-step, the efficiency of digital electromagnetic transient analysis is difficult to ensure. Therefore, how to simultaneously improve the efficiency of digital electromagnetic transient analysis becomes a problem to be studied.
Disclosure of Invention
The embodiment of the invention provides a direct current power system dynamic characteristic analysis method based on mixed time scale modeling, which can improve the high efficiency and accuracy of digital electromagnetic transient analysis.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme:
s1, establishing an EMT subsystem and a DP subsystem of a direct current power system;
s2, importing the built EMT subsystem into the FPGA1, and importing the built DP subsystem into the FPGA 2;
S3, an interface calculation module is established according to the external characteristics of the EMT subsystem and the DP subsystem and is deployed on the FPGA3, and the FPGA3 is used for data interaction of the EMT calculation module and the DP calculation module;
s4, after initialization, the EMT subsystem performs n times of single-step length analysis and the DP subsystem performs one-step length analysis until the interaction time is reached;
S5, outputting the analysis result to the terminal equipment.
The scheme of the embodiment can be applied to a platform for mixed simulation of Dynamic Phasors (DP) -electromagnetic transients (EMT) of a direct current power system, adopts dynamic phasor modeling to process non-concerned parts of the direct current power system to be simulated, ensures high simulation efficiency, adopts electromagnetic transients to process concerned parts of the direct current power system to be simulated, ensures simulation accuracy, and utilizes a plurality of groups of FPGA to realize interface data interaction and serial and parallel time sequence mixed simulation, thereby ensuring simulation efficiency. A dynamic phasor-electromagnetic transient hybrid simulation heterogeneous platform is built, and the simulation precision and speed of a direct current power system are balanced. The dynamic phasor-electromagnetic transient hybrid simulation has small hardware limit on simulation equipment, can realize the simulation of a large-scale alternating-current and direct-current system, and can flexibly realize the modification of a hybrid simulation interface mode, and the modification and the upgrade of the hybrid simulation.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIGS. 1 and 2 are schematic diagrams of specific examples provided in embodiments of the present invention;
FIG. 3 is a schematic diagram of a division manner of a hybrid simulation subsystem of a DC power system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the main logic flow of a hybrid simulation algorithm of a specific example provided in an embodiment of the present invention;
fig. 5 is a schematic diagram of a method flow provided in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail below with reference to the drawings and detailed description for the purpose of better understanding of the technical solution of the present invention to those skilled in the art. Embodiments of the present invention will hereinafter be described in detail, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment of the invention provides a DC power system dynamic characteristic analysis method based on mixed time scale modeling, which is shown in fig. 5 and comprises the following steps:
S1, an EMT subsystem and a DP subsystem of a direct current power system are established.
S2, importing the built EMT subsystem into the FPGA1, and importing the built DP subsystem into the FPGA 2.
In practical application, the number of EMT subsystems may be 1, but the number of DP subsystems may be multiple, and the FPGA2 may include multiple FPGAs.
S3, an interface calculation module is established according to the external characteristics of the EMT subsystem and the DP subsystem and is deployed on the FPGA3, and the FPGA3 is used for data interaction of the EMT calculation module and the DP calculation module.
Logic for parallel simulation time sequence control can be imported on the FPGA3, so that the simulation time sequence control logic is used for selecting whether serial or parallel is adopted in subsequent processing, and specifically, the logic for simulation time sequence control can be loaded into an interface calculation module deployed on the FPGA3, and the interface calculation module selects whether serial time sequence simulation or parallel time sequence simulation is adopted in the subsequent processing. Therefore, the FPGA3 is specifically used for simulating the timing selection and the data interaction of the EMT calculation module and the DP calculation module.
S4, after initialization, the EMT subsystem performs n single step length analyses and the DP subsystem performs one single step length analysis until the interaction time is reached.
S5, outputting the analysis result to the terminal equipment.
The method comprises the steps of establishing a state equation of an EMT subsystem and a state equation of a DP subsystem, and operating the DP subsystem by using an FPGA2, wherein the state equation of the EMT subsystem is as follows: Wherein r D is the real-time interaction volume of the DP subsystem, Representing an EMT subsystem state variable differential term, A E represents an EMT subsystem state variable matrix, x E represents an EMT subsystem state variable, B E represents an EMT subsystem control variable matrix, u represents an EMT subsystem control variable, C E-D represents an EMT subsystem interaction volume matrix, E represents an EMT subsystem, D represents a DP subsystem, and the state equation of the DP subsystem is: r E is the real-time interaction quantity of the EMT subsystem, k represents the dynamic phasor order, Representing DP subsystem state variable differential terms, x D representing DP subsystem state variables, j representing imaginary units, ω s =2pi/T, T representing fundamental period, a D representing DP subsystem state variable matrix, B D representing DP subsystem control variable matrix, u D representing DP subsystem control variables, operator < x > k representing k-th order dynamic phasors of the respective variables.
In practical application, a state equation of a subsystem needs to be established, and the subsystem simulation is realized by using an FPGA:
in the method, r D is the real-time interaction quantity of the DP subsystem
And establishing a state equation of the DP subsystem, wherein the state equation (2) described by the instantaneous differential equation is converted into a formula (3) when the DP subsystem adopts dynamic phasor modeling
Wherein r E is the real-time interaction quantity of the DP subsystem:
Wherein ω s =2pi/T, T is fundamental wave period, operator < x > k represents k-order dynamic phasors of corresponding variables, and the definition and solving modes are as follows
In the formula, the superscript 'R' and 'I' respectively represent a real part and an imaginary part.
In particular, the dynamic process of the DP subsystem needs to be split into real and imaginary parts. In practical application, the computer does not calculate differential equation containing complex number, so that it must be expanded into two equation types of real part and imaginary part to solve, and all the forms of < x > k are complex numbers, and can be expressed as
Wherein, the dynamic process of the DP subsystem represented by the formula (4) is split into real part and imaginary part due to the complex characteristic of the dynamic phasor, thus obtaining
R represents the real part, I represents the imaginary part,Representing the real matrix of DP subsystem state variables,Representing the imaginary matrix of the DP subsystem state variable,Representing the real matrix of the DP subsystem control variables,Representing the imaginary matrix of the DP subsystem control variable,Representing the real matrix of the DP subsystem interaction quantity,Representing the imaginary matrix of the DP subsystem interaction quantity,Representing the real part of the real-time interaction volume of the EMT subsystem,Representing the real-time interaction volume imaginary part of the EMT subsystem,Representing the real part of the DP subsystem state variable,Representing the imaginary part of the DP subsystem state variable.
In this embodiment, in the process of using the FPGA3 to perform data interaction between the EMT calculation module and the DP calculation module, the interface mechanism adopted includes:
And extracting a dynamic phasor value from the interaction volume instantaneous value output by the EMT subsystem.
And generating an interaction quantity instantaneous value by using the interaction quantity in the form of the dynamic phasor output by the DP subsystem.
The interface circuit is used for solving the EMT subsystem and the DP subsystem in a single step by using a controlled voltage source and a controlled current source, and the interaction quantity is used as a controlled source amplitude.
The DC side external characteristics can be roughly divided into two types of bus voltage control type and bus current control type, so that a controlled voltage source and a controlled current source are respectively used as interface circuits when the two types of subsystems are solved in a single step, and the interaction quantity is the amplitude of the controlled source. Link ② is used to extract the dynamic phasor values from the EMT subsystem interaction volume instantaneous values, while link ④ is used to generate the instantaneous values from the DP subsystem interaction volume in the form of dynamic phasors.
Furthermore, an interface calculation module is built. According to the external characteristics of the EMT subsystem and the DP subsystem, an interface scheme is determined, and the FPGA3 is utilized to realize simulation time sequence selection and data interaction of the EMT calculation module and the DP calculation module. The DC side external characteristics of the subsystems formed by the converter station, the load converter and the like can be roughly divided into two types of bus voltage control type and bus current control type, so that a controlled voltage source and a controlled current source are respectively used as interface circuits when the two types of subsystems are solved in a single step, and the interaction quantity is the amplitude of the controlled source. Fig. 2 shows an interface mechanism schematic, in which links ① and ③ are EMT and DP subsystems, link ② is used to extract a dynamic phasor value from an EMT subsystem interaction volume instantaneous value, and link ④ is used to generate an instantaneous value from an interaction volume in the form of a DP subsystem dynamic phasor.
In this embodiment, in step S4, the initializing process includes:
And initializing an EMT calculation module of the EMT subsystem, a DP calculation module of the DP subsystem and an interface calculation module.
The interface computing module is used as a bridge for interaction of the two subsystems. The initialization processing comprises the steps that the time of the three modules is synchronous, the initial time is t=t 0, the simulation step length delta T of the EMT subsystem, the simulation step length delta T of the DP subsystem=h delta T, the total simulation duration T, the system parameters of the EMT calculation module and the DP calculation module, wherein T0 represents that the initial time is generally taken to be 0, and delta T represents the simulation step length of the EMT subsystem. And the parameters of the system of the EMT calculation module and the system of the DP calculation module comprise all parameters in a state quantity matrix and a control quantity matrix when the DP subsystem and the EMT subsystem are established.
In this embodiment, the hybrid simulation includes two modes, serial timing simulation and parallel timing simulation, as shown in fig. 2, for the serial timing simulation, in step S4, the DP subsystem performs a single step length analysis, including:
At time t1, the interaction quantity in the form of dynamic phasor output by the DP subsystem generates an instantaneous value sequence through an interface and transmits the instantaneous value sequence to the EMT subsystem. The "interface" herein may also be referred to as a "hybrid emulation interface", and is implemented on a hardware level as an interface circuit, such as a controlled voltage source or a current source as shown in fig. 1, where the left side in fig. 1 is two EMT subsystems and an interface circuit form, and the right side is two DP subsystems corresponding thereto. The EMT subsystem interface can be a controlled voltage source or a current source, and the corresponding DP subsystem can be the controlled current source or the controlled voltage source, wherein single-step solution refers to calculation of one simulation step, and the interaction quantity refers to the value of r E、rD when the EMT subsystem and the DP subsystem are established as the interaction quantity, and the value of the interaction quantity is= "controlled source amplitude". And the EMT subsystem reads the interaction quantity from the instantaneous value sequence, sets an interface circuit controlled source and then analyzes according to the electromagnetic transient step length until the time t 2. As shown in fig. 2, each interaction time represented by time T1 is simulated many times, and a DP subsystem simulation step Δt is between T1 and T2. And updating the instantaneous value sequence according to an analysis result obtained by the EMT subsystem, extracting a dynamic phasor value of the interaction quantity through an interface calculation module, and transmitting the dynamic phasor value to the DP subsystem, wherein the interface calculation module is used for loading an interface mechanism shown in the figure 1 so as to conveniently realize the interaction between the DP subsystem and the EMT subsystem. And executing the DP subsystem to the time t2, and if the interaction interval is consistent with the simulation step length of the DP subsystem, performing only one iteration. When the next interaction interval is entered, step ⑤～⑧ in fig. 2a is performed. The interaction interval is the time of the interface calculation module for transmitting the interaction quantity each time, which is generally consistent with the simulation step length of the DP subsystem, and the time of the interface calculation module for transmitting the interaction quantity each time is not smaller than the simulation step length of the DP subsystem in practical application.
Specifically, in the case of adopting a serial timing processing method, the method includes:
Step 11, at the time t1, the DP subsystem interaction volume dynamic phasor value < r D>k generates an instantaneous value sequence r D,n＝{rD,n(t),…rD,n (t+ (m-1) delta t) through a mixed simulation interface and then transmits the instantaneous value sequence r D,n＝{rD,n(t),…rD,n (t+ (m-1) delta t) to the EMT subsystem;
Step 12, the EMT subsystem sequentially reads the interaction quantity from the interaction quantity instantaneous value sequence r D, sets an interface circuit controlled source, and executes simulation m steps according to the electromagnetic transient step length delta t to the time t 2;
Step 13, updating the interaction quantity instantaneous value sequence of the [ t 2-T,t2 ] period by using the simulation result of the EMT subsystem (t 1,t2), extracting the interaction quantity dynamic phase value < r E>k through a mixed simulation interface, and transmitting the interaction quantity dynamic phase value < r E>k to the DP subsystem for simulation at the moment (t 1,t2);
And 14, executing the DP subsystem to the time T2 by using the simulation step length delta T, and if the interaction interval is consistent with the simulation step length of the DP subsystem, performing iteration only once.
When the next interaction interval is entered, step ⑤～⑧ in fig. 2 a) is performed, as in step ①～④ in fig. 2 a).
For parallel time sequence simulation, in step S4, the EMT subsystem performs n single step length analyses, including generating an instantaneous value sequence through a hybrid simulation interface by the interaction quantity in the form of dynamic phasors output by the DP subsystem at the time t1, and then transmitting the instantaneous value sequence to the EMT subsystem. The EMT subsystem utilizes an instantaneous value sequence (expressed in the form of [ t 1-T,t1 ]), extracts a dynamic phasor value of the interaction quantity through an interface and transmits the dynamic phasor value to the DP subsystem. When the interaction time is over, the two subsystems need to transmit the interaction quantity to the interface calculation module to generate a corresponding form, and then the next stage is completed to be simulated, so that the two subsystems can be considered. The two processes of ' the interactive quantity in the form of the dynamic phasor output by the DP subsystem ' are carried out simultaneously by generating an instantaneous value sequence through a mixed simulation interface and then transmitting the instantaneous value sequence to the EMT subsystem ' and ' the EMT subsystem utilizes the instantaneous value sequence to extract the dynamic phasor value of the interactive quantity through the interface and transmit the dynamic phasor value to the DP subsystem '.
Specifically, in the case of adopting a parallel time-series processing method, the method includes:
Step 21, at time t1, the DP subsystem interaction volume dynamic phasor value < r D>k generates an instantaneous value sequence r D,n＝{rD,n(t),…rD,n (t+ (m-1) delta t) through a mixed simulation interface and then transmits the instantaneous value sequence r D,n＝{rD,n(t),…rD,n (t+ (m-1) delta t) to the EMT subsystem, and meanwhile, the EMT subsystem extracts the interaction volume dynamic phasor value < r E>k through the interface and transmits the interaction volume dynamic phasor value to the DP subsystem by utilizing the [ t 1-T,t1 ] time interval interaction volume instantaneous value sequence;
Step 22, the EMT subsystem and the DP subsystem respectively simulate and execute to the time T2 in step length delta T and delta T, and the DP subsystem updates the interaction volume instantaneous value sequence to [ T 2-T,t2 ].
Step ③～④ in fig. 2 b) corresponds to the next interaction interval, which is the same as the execution of step ①～② in fig. 2 b), and will not be described again.
It should be noted that in the serial timing simulation, the advanced DP subsystem of the EMT subsystem is described as an example, and the DP subsystem may be actually constructed in an advanced EMT subsystem manner. Because of inconsistent interaction time attributes, although serial and parallel time sequence simulation are independently solved for each subsystem, certain convergence difference still exists. Generally, the convergence of serial timing simulation is relatively high, and the hardware requirement of the simulation platform is low, but the calculation efficiency is far lower than that of parallel timing simulation.
In practical application of this embodiment, the following implementation procedure may also be adopted, including:
and 101, subsystem division. The direct current power system is classified into a detailed electromagnetic transient modeling subsystem (EMT subsystem) and a simplified dynamic phasor modeling subsystem (DP subsystem) according to the object attention.
And 102, constructing an EMT calculation module. And importing the established mathematical model program of the EMT subsystem into the FPGA 1.
And 103, constructing a DP calculation module. And importing the established DP subsystem mathematical model program into the FPGA cluster 2.
And 104, building an interface calculation module. According to the external characteristics of the EMT subsystem and the DP subsystem, an interface scheme is determined, and the FPGA3 is utilized to realize simulation time sequence selection and data interaction of the EMT calculation module and the DP calculation module.
Step 105, module initialization. The system comprises an EMT calculation module, a DP calculation module and an interface calculation module, wherein the initialization comprises an initial time t=t 0, an EMT subsystem simulation step length delta T, a DP subsystem simulation step length delta t=nΔt, a simulation total duration T, simulation time sequence (serial time sequence simulation and parallel time sequence simulation) determination, and EMT and DP calculation module system parameters.
Step 106, completing the single-step long simulation of the EMT subsystem n times and the single-step long simulation of the DP subsystem once. When the interaction time is reached, the interface computing module completes extraction, transformation and transmission of interaction data of the DP computing module and the EMT computing module.
And 107, judging whether the simulation is finished, if T is more than or equal to T, finishing the simulation, outputting a result, and otherwise, returning to the step 106.
If the invention is further described by referring to fig. 3 and 4, an EMT calculation module, a DP calculation module and an interface calculation module are built by using an FPGA to form a dynamic phasor-electromagnetic transient hybrid simulation platform, so that the hybrid simulation of the direct current power system is completed, and the efficiency and the accuracy of the simulation are balanced. The method is concretely realized as follows:
in step 201, taking the three-terminal VSC dc power system shown in fig. 3 as an example, the subsystem 1 formed by the converter station 1 and the dc network is an EMT subsystem, and the converter stations 2 and 3 including ac equivalent circuits are DP subsystems.
And 202, constructing an EMT calculation module. And importing the established mathematical model program of the EMT subsystem into the FPGA 1.
And 203, constructing a DP calculation module. Taking the DP subsystem main circuit of the VSC-containing converter station shown in fig. 1 as an example, when the switching function is introduced to describe the switching process, the general expression of the DP subsystem main circuit dynamic phasor model is as follows
Where p E { a, b, c } represents three phases, u sp is an ac side equivalent power supply, i sp is an ac side equivalent power supply phase currents, u dc is a dc side capacitor voltage, i dc is a dc side output current ,Sa＝2sa/3-sb/3-sc/3,Sb＝2tb/3-sa/3-sc/3,Sc＝2sc/3-sa/3-sb/3,sp is a three-phase bridge arm switching function.
When only the dominant component of the dc power system is considered, the ac side state quantity is modeled using 1, 5, and 7 order dynamic phasors, the dc side state quantity is modeled using 0 and 6 order dynamic phasors, and equation (6) can be decomposed into:
wherein for a multi-variable constitution Can be obtained by < xy > k by dynamic phasor convolution property expansion, i.e.
In the formula,
And importing the established DP subsystem mathematical model program into the FPGA cluster 2.
Step 204, an interface calculation module is built, the constant voltage station shown in fig. 3 is a bus voltage control type interface, and a controlled voltage source is selected.
Step 205, inputting parameters of a system to be simulated, and setting initial simulation time t=0, simulation step length delta T of an EMT calculation module, simulation step length delta T of a DP calculation module and total simulation duration T.
Step 206, initializing interface module parameters, and determining that the system selects serial time sequence simulation or parallel time sequence simulation.
Step 207, updating t=t+deltat at the simulation time.
Step 208, the EMT calculation module completes n single step long simulations. After each simulation, no data interaction is performed, the dynamic phasor interaction value adopts the value of the first single-step long simulation, and other state quantity initial values are updated after each simulation.
In step 209, the DP calculation module completes one single step simulation.
Step 2010, judging whether the simulation is finished, if T < T, executing step 2011, otherwise executing step 2014.
In step 2011, the EMT calculation module and the DP calculation module transmit the interaction value at the moment t to the interface module.
Step 2012, the interface computing module analyzes the interactive data transmitted by the EMT subsystem to generate an instantaneous value and transmit the instantaneous value to the DP computing module, and analyzes the interactive data transmitted by the DP subsystem to extract a dynamic phase value and transmit the dynamic phase value to the EMT computing module.
Step 2013, after the states and control matrix of the EMT calculation module and the DP calculation module are updated, returning to step 206.
And 2014, outputting a result, and finishing the simulation.
The scheme of the embodiment can be applied to a platform for mixed simulation of Dynamic Phasors (DP) -electromagnetic transients (EMT) of a direct current power system, adopts dynamic phasor modeling to process non-concerned parts of the direct current power system to be simulated, ensures high simulation efficiency, adopts electromagnetic transients to process concerned parts of the direct current power system to be simulated, ensures simulation accuracy, and utilizes a plurality of groups of FPGA to realize interface data interaction and serial and parallel time sequence mixed simulation, thereby ensuring simulation efficiency. The existing electromagnetic transient simulation platform can be utilized to build a dynamic phasor-electromagnetic transient hybrid simulation heterogeneous platform, and the simulation precision and speed of the power system are balanced. The dynamic phasor-electromagnetic transient hybrid simulation has small hardware limit on simulation equipment, can realize the simulation of a large-scale alternating-current and direct-current system, and can flexibly realize the modification of a hybrid simulation interface mode, and the modification and the upgrade of the hybrid simulation.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are mutually referred to, i.e. each embodiment is different from other embodiments in emphasis. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points. The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (7)

1.一种基于混合时间尺度建模的直流电力系统动态特性分析方法，其特征在于，包括：1. A method for analyzing dynamic characteristics of a DC power system based on mixed time scale modeling, comprising: S1、建立直流电力系统的EMT子系统和DP子系统；S1. Establish the EMT subsystem and DP subsystem of the DC power system; S2、将建立的EMT子系统导入至FPGA1中，建立的DP子系统导入至FPGA2中；S2, import the established EMT subsystem into FPGA1, and import the established DP subsystem into FPGA2; S3、根据EMT子系统和DP子系统的外特性建立接口计算模块，并部署在FPGA3上，所述FPGA3用于EMT计算模块和DP计算模块的数据交互；S3, establish an interface computing module according to the external characteristics of the EMT subsystem and the DP subsystem, and deploy it on FPGA3, wherein the FPGA3 is used for data interaction between the EMT computing module and the DP computing module; S4、在初始化后，所述EMT子系统进行n次单步长分析、所述DP子系统一次单步长分析，直至达到交互时刻；S4. After initialization, the EMT subsystem performs n single-step analysis and the DP subsystem performs one single-step analysis until the interaction time is reached; S5、将分析的结果输出至终端设备；S5, outputting the analysis result to the terminal device; EMT子系统的状态方程表示为：其中，rD为DP子系统的实时交互量，表示EMT子系统状态变量微分项，AE表示EMT子系统状态变量矩阵，xE表示EMT子系统状态变量，BE表示EMT子系统控制变量矩阵，u表示EMT子系统控制变量，CE-D表示EMT子系统交互量矩阵，下标E表示EMT子系统，下标D表示DP子系统；The state equation of the EMT subsystem is expressed as: Among them, r D is the real-time interaction amount of the DP subsystem, represents the differential term of the EMT subsystem state variable, A E represents the EMT subsystem state variable matrix, x E represents the EMT subsystem state variable, B E represents the EMT subsystem control variable matrix, u represents the EMT subsystem control variable, C ED represents the EMT subsystem interaction quantity matrix, subscript E represents the EMT subsystem, and subscript D represents the DP subsystem; DP子系统的状态方程表示为：The state equation of the DP subsystem is expressed as: rE为所述EMT子系统的实时交互量，k表示动态相量阶数，表示DP子系统状态变量微分项，xD表示DP子系统状态变量，j表示虚数单位，ωs＝2π/T，T表示基波周期，AD表示DP子系统状态变量矩阵，BD表示DP子系统控制变量矩阵，uD表示DP子系统控制变量，算子<x>k表示相应变量的k阶动态相量； r E is the real-time interaction quantity of the EMT subsystem, k represents the dynamic phasor order, represents the differential term of the DP subsystem state variable, x D represents the DP subsystem state variable, j represents the imaginary unit, ω s =2π/T, T represents the fundamental period, AD represents the DP subsystem state variable matrix, BD represents the DP subsystem control variable matrix, uD represents the DP subsystem control variable, and the operator <x> k represents the k-order dynamic phasor of the corresponding variable; 还包括：Also includes: 将所述DP子系统的动态过程拆分为实部和虚部，其中，实部和虚部为：R表示实部，I表示虚部，表示DP子系统状态变量实部矩阵，表示DP子系统状态变量虚部矩阵，表示DP子系统控制变量实部矩阵，表示DP子系统控制变量虚部矩阵，表示DP子系统交互量实部矩阵，表示DP子系统交互量虚部矩阵，表示EMT子系统实时交互量实部，表示EMT子系统实时交互量虚部，表示DP子系统状态变量实部，表示DP子系统状态变量虚部。The dynamic process of the DP subsystem is split into real and imaginary parts, where the real and imaginary parts are: R represents the real part, I represents the imaginary part, represents the real part matrix of the DP subsystem state variables, represents the imaginary part matrix of the DP subsystem state variables, represents the real part matrix of the DP subsystem control variables, represents the imaginary part matrix of the DP subsystem control variables, represents the real part matrix of the interaction quantity of the DP subsystem, represents the imaginary matrix of the interaction quantity of the DP subsystem, represents the real part of the real-time interaction quantity of the EMT subsystem, Represents the imaginary part of the real-time interaction of the EMT subsystem, represents the real part of the DP subsystem state variable, Represents the imaginary part of the DP subsystem state variable. 2.根据权利要求1所述的基于混合时间尺度建模的直流电力系统动态特性分析方法，其特征在于，在利用FPGA3进行EMT计算模块和DP计算模块的数据交互的过程中，所采用的接口机制包括：2. The method for analyzing dynamic characteristics of a DC power system based on hybrid time scale modeling according to claim 1 is characterized in that, in the process of using FPGA3 to perform data interaction between the EMT calculation module and the DP calculation module, the interface mechanism used includes: 从所述EMT子系统输出的交互量瞬时值中，提取动态相量值；Extracting a dynamic phasor value from the instantaneous value of the interactive quantity output by the EMT subsystem; 利用所述DP子系统输出的动态相量形式的交互量，生成交互量瞬时值；Generate an instantaneous value of the interactive quantity by using the interactive quantity in the form of a dynamic phasor output by the DP subsystem; 其中，以受控电压源与受控电流源作为所述EMT子系统和所述DP子系统单步求解时的接口电路，并将交互量作为受控源幅值。Among them, a controlled voltage source and a controlled current source are used as interface circuits for single-step solution of the EMT subsystem and the DP subsystem, and the interaction quantity is used as the controlled source amplitude. 3.根据权利要求1所述的基于混合时间尺度建模的直流电力系统动态特性分析方法，其特征在于，在步骤S4，初始化的过程中，包括：3. The method for analyzing dynamic characteristics of a DC power system based on hybrid time scale modeling according to claim 1 is characterized in that, in step S4, the initialization process comprises: 对所述EMT子系统的EMT计算模块、所述DP子系统的DP计算模块和接口计算模块进行初始化处理，所述初始化处理包括：三个模块的时间是同步的且初始时刻都为t＝t0、所述EMT子系统仿真步长Δt、DP子系统仿真步长ΔT＝nΔt、仿真总时长T、所述EMT计算模块和所述DP计算模块系统参数，其中，t0表示初始时刻一般取0,Δt表示所述EMT子系统仿真步长。The EMT calculation module of the EMT subsystem, the DP calculation module of the DP subsystem and the interface calculation module are initialized, and the initialization process includes: the time of the three modules is synchronized and the initial time is t=t 0 , the simulation step length Δt of the EMT subsystem, the simulation step length ΔT=nΔt of the DP subsystem, the total simulation time T, and the system parameters of the EMT calculation module and the DP calculation module, wherein t0 represents the initial time which is generally 0, and Δt represents the simulation step length of the EMT subsystem. 4.根据权利要求1或3所述的基于混合时间尺度建模的直流电力系统动态特性分析方法，其特征在于，在步骤S4中，所述DP子系统一次单步长分析，包括：4. The method for analyzing dynamic characteristics of a DC power system based on mixed time scale modeling according to claim 1 or 3, characterized in that, in step S4, the DP subsystem is analyzed once in a single step, comprising: 在t1时刻，所述DP子系统输出的动态相量形式的交互量，经接口生成瞬时值序列，并传递给所述EMT子系统；At time t1, the interactive quantity in the form of dynamic phasor output by the DP subsystem generates an instantaneous value sequence through the interface and is transmitted to the EMT subsystem; 所述EMT子系统从所述瞬时值序列中，读取交互量并设置接口电路受控源，之后按电磁暂态步长进行分析直至t2时刻；The EMT subsystem reads the interaction quantity from the instantaneous value sequence and sets the interface circuit controlled source, and then performs analysis according to the electromagnetic transient step length until time t2; 根据所述EMT子系统得到的分析结果，更新所述瞬时值序列，经混合仿真接口提取交互量的动态相量值，并传递给所述DP子系统；According to the analysis results obtained by the EMT subsystem, the instantaneous value sequence is updated, the dynamic phasor value of the interaction quantity is extracted through the hybrid simulation interface, and is passed to the DP subsystem; 所述DP子系统执行到t2时刻，若交互间隔与DP子系统仿真步长一致，则仅进行一次迭代。The DP subsystem executes to time t2, and if the interaction interval is consistent with the DP subsystem simulation step size, only one iteration is performed. 5.根据权利要求1或3所述的基于混合时间尺度建模的直流电力系统动态特性分析方法，其特征在于，在步骤S4中，所述EMT子系统进行n次单步长分析，包括：5. The method for analyzing dynamic characteristics of a DC power system based on hybrid time scale modeling according to claim 1 or 3, characterized in that, in step S4, the EMT subsystem performs n single-step analysis, including: 在t1时刻，所述DP子系统输出的动态相量形式的交互量，经混合仿真接口生成瞬时值，之后传递给所述EMT子系统；所述EMT子系统利用瞬时值序列，通过接口提取交互量的动态相量值并传递给所述DP子系统。At time t1, the interactive quantity in the form of dynamic phasor output by the DP subsystem generates an instantaneous value through the hybrid simulation interface and then passes it to the EMT subsystem; the EMT subsystem uses the instantaneous value sequence to extract the dynamic phasor value of the interactive quantity through the interface and passes it to the DP subsystem. 6.根据权利要求5所述的基于混合时间尺度建模的直流电力系统动态特性分析方法，其特征在于，采用串行时序的处理方式的情况下，包括：6. The method for analyzing the dynamic characteristics of a DC power system based on mixed time scale modeling according to claim 5 is characterized in that, when a serial time sequence processing method is adopted, it includes: 在t1时刻，DP子系统交互量动态相量值<rD>k经混合仿真接口生成瞬时值序列rD,n＝{rD,n(t),…rD,n(t+(m-1)Δt)}后，传递给EMT子系统；At time t1, the dynamic phasor value of the interactive quantity of the DP subsystem <r D > k is generated into an instantaneous value sequence r D,n ={r D,n (t),…r D,n (t+(m-1)Δt)} through the hybrid simulation interface and then transmitted to the EMT subsystem; EMT子系统从交互量瞬时值序列rD中依次读取交互量并设置接口电路受控源，按电磁暂态步长Δt执行仿真m步，至t2时刻；The EMT subsystem reads the interaction quantity from the interaction quantity instantaneous value sequence r D in sequence and sets the interface circuit controlled source, and performs the simulation m steps according to the electromagnetic transient step length Δt until the moment t2; 由EMT子系统(t1,t2]仿真结果，更新[t2-T,t2]时段交互量瞬时值序列，经混合仿真接口提取交互量动态相量值<rE>k，并传递给DP子系统用于(t1,t2]时刻的仿真；Based on the simulation results of the EMT subsystem (t 1 ,t 2 ], the instantaneous value sequence of the interaction quantity in the period [t 2 -T,t 2 ] is updated, and the dynamic phasor value of the interaction quantity <r E > k is extracted through the hybrid simulation interface and passed to the DP subsystem for simulation at the moment (t 1 ,t 2 ]; DP子系统以仿真步长ΔT执行到t2时刻，若交互间隔与DP子系统仿真步长一致，则仅进行一次迭代。The DP subsystem executes with a simulation step size of ΔT until time t2. If the interaction interval is consistent with the DP subsystem simulation step size, only one iteration is performed. 7.根据权利要求5所述的基于混合时间尺度建模的直流电力系统动态特性分析方法，其特征在于，采用并行时序的处理方式的情况下，包括：7. The method for analyzing dynamic characteristics of a DC power system based on mixed time scale modeling according to claim 5 is characterized in that, when a parallel time series processing method is adopted, it includes: 在t1时刻，DP子系统交互量动态相量值<rD>k经混合仿真接口生成瞬时值序列rD,n＝{rD,n(t),…rD,n(t+(m-1)Δt)}后，传递给EMT子系统；同时，EMT子系统利用[t1-T,t1]时段交互量瞬时值序列，通过接口提取交互量动态相量值<rE>k并传递给DP子系统；At time t1, the dynamic phasor value of the interactive quantity <r D > k of the DP subsystem is generated into an instantaneous value sequence r D,n ={r D,n (t),…r D,n (t+(m-1)Δt)} through the hybrid simulation interface and then transmitted to the EMT subsystem; at the same time, the EMT subsystem uses the instantaneous value sequence of the interactive quantity in the period [t 1 -T,t 1 ] to extract the dynamic phasor value of the interactive quantity <r E > k through the interface and transmit it to the DP subsystem; EMT子系统和DP子系统分别以步长Δt和ΔT仿真执行至t2时刻，DP子系统更新交互量瞬时值序列至[t2-T,t2]。The EMT subsystem and the DP subsystem perform simulations with step sizes Δt and ΔT respectively until time t2, and the DP subsystem updates the instantaneous value sequence of the interaction quantity to [t 2 -T, t 2 ].
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