CN105278345A - HIL and RCP quasi-real time simulation system based on asynchronous generator reactive compensation technology - Google Patents
HIL and RCP quasi-real time simulation system based on asynchronous generator reactive compensation technology Download PDFInfo
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Abstract
An HIL and RCP quasi-real time simulation system based on asynchronous generator reactive compensation technology includes an HIL quasi-real time simulation system and an RCP quasi-real time simulation system. The HIL quasi-real time simulation system comprises a real controller as well as a virtual asynchronous generator and a virtual current transformer simulation module both used as controlled objects. The RCP quasi-real time simulation system comprises a controller as well as a real asynchronous generator and a real current transformer simulation module both used as controlled objects. The HIL system uses the real controller and the virtual objects, and the RCP system uses the virtual controller and the real objects, i.e. the real power devices, so that the HIL system and the RCP system can achieve good connecting effect between offline simulation and object experiments. The controller and the controlled objects can be fully tested and analyzed. The system can well solve the coupling problem between a mathematical model of discrete time and real objects of continuous time and a clock processing problem of variable-structure characteristics, and can fully test communication and transmission problems between data.
Description
Technical field
The present invention relates to asynchronous generator reactive power compensation technology.
Background technology
Along with the progress of technology and the demand of industrial circle to high-power electric and electronic system increase day by day, the reliability of system and R&D process high efficiency are just aobvious particularly important.What mostly adopt in the research and development and debug process of high-power electric and electronic system at present is off-line emulation system, although the test of off-line simulation to control algolithm and measuring error is effective, but cannot investigate for the mistake of the aspects such as interrupt latency, internal memory use and data transmission, therefore directly carry out the safety of full-scale investigation to equipment after off-line simulation and just there is larger hidden danger.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of HIL and RCP based on asynchronous generator reactive power compensation technology quasi real time analogue system, can be good at testing system, and more can test by object simulating, the development& testing process of system can be made more convenient, effective, safe, quick.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of HIL and RCP based on asynchronous generator reactive power compensation technology quasi real time analogue system, comprises HIL quasi real time analogue system and RCP quasi real time analogue system,
HIL is analogue system quasi real time, comprises real controller and virtual asynchronous generator and converter simulation module as controlled device; Carry out modeling to asynchronous generator and converter simulation module, the module that modeling produces obtains asynchronous generator terminal voltage signal, current transformer current signal and the current transformer DC side signal needed for controller control through simulation calculating; Carrying out no-load voltage ratio process to these makes its amplitude remain unchanged, and is then transferred in controller by interface and carries out computing; The asynchronous generator terminal voltage signal that controller collects, current transformer current signal and the algoritic module of current transformer DC side signal in controller carry out computing, obtain the PWM ripple signal needed for modulating; The PWM ripple signal of asynchronous generator and the transmission of converter simulation module acquires controller PWM module, carries out recompile by trapping module to the rising edge of PWM ripple signal and negative edge, calculates dutycycle and interrupting information; Dutycycle and interrupting information are sent to asynchronous generator by the data bus of real-time processor and converter simulation module carries out simulation calculating, and the voltage and current Signal transmissions of generation, to controller, forms a complete closed-loop system;
RCP is analogue system quasi real time, comprises controller and real asynchronous generator and converter system as controlled device; The voltage and current signal that generator and converter system produce sends into controller through no-load voltage ratio process, and controller collects after external transmission comes signal through calculating the PWM ripple signal producing and drive STATCOM; The PWM ripple signal intensity that controller produces is more weak, is not enough to driving switch pipe, needs to deliver in STATCOM through gate drive circuit, realize the drived control of STATCOM;
The exchanges data between different processor and process is there is in HIL and RCP quasi real time emulates, carry out signal sampling when two kinds quasi real time analogue system is all and breaks within a processor, therefore need to carry out clock process and simulation parameter is adjusted to arrive best simulated effect.
As improvement, HIL is quasi real time in analogue system, adopt dSPACE single board system DS1104 as controller, asynchronous generator and converter module is built as controlled device by Simulink at Quanser8, interface, for carrying interface, carries out exchanges data by PNC data line between ADC mouth and DAC mouth.
As improvement, dSPACE single board system DS1104 can produce adjustable, the complementary between two pwm signal of 6 road Dead Times as controller, and dutycycle can be able to be modulated from 0 ~ 100%; Asynchronous generator terminal voltage signal, current transformer current signal and current transformer DC side signal that dSPACE single board system is come from the DAC oral instructions of Quanser8 by the collection of ADC mouth, these signals calculate through the control algolithm module of building inside DS1104, draw pwm signal; Quanser8 gathers 6 road PWM ripple signals of DS1104 transmission by the high speed digital I/O mouth of self, carries out recompile, calculate dutycycle and interrupting information through trapping module to the rising edge of PWM ripple signal and negative edge; Dutycycle and interrupting information are sent to asynchronous generator by the data bus of the real-time processor of Quanser8 and converter simulation module carries out simulation calculating, and the voltage and current signal of generation is passed to DS1104 through DAC oral instructions; Here the voltage and current signal produced be all in the Simulink by Quanser8 emulator produce, it not real sensor, the amplitude of these signals is-10V ~ 10V, in order to size be kept constant when being input to DS1104, needs to carry out no-load voltage ratio process.
As improvement, RCP is quasi real time in analogue system, and adopt dSPACE single board system DS1104 as controller, asynchronous generator and current transformer are real experimental facilities, connecting interface between the two adopts self interface of being with, and is connected between interface by change-over circuit; The voltage and current signal transducer testing circuit that generator and converter system produce sends into the ADC mouth of DS1104 through no-load voltage ratio process, controller collects after external transmission comes signal through calculating the PWM ripple signal producing and drive STATCOM; The PWM ripple signal intensity that controller produces is more weak, is not enough to driving switch pipe, needs to deliver in STATCOM through gate drive circuit, realize the drived control of STATCOM.
As improvement, in HIL quasi real time analogue system, Quanser8 and DS1104 two systems all have oneself independently processor and clock system, and two systems are all that the transmission data needing the other side real-time carry out processor calculating; When carrying out full-scale investigation, external signal is continuous signal, and when over-sampling circuit collection is come in, signal is converted to off-lined signal by continuous print signal; In order to simulate situation during this full-scale investigation, the clock system of definition Quanser8 is T1, DS1104 clock system is T2, arrange the sample rate of sample rate higher than T2 of T1, and the priority of T1 is higher than T2; T1 and T2 two clock systems are all sampled the working method of asynchronous-sampling, are sampled by self interface of being with; The task of timer system that T1 and T2 is formed, timer T1 timer T2 when operation enters the preparatory stage, T1 sleep time T2 just carry out work, if T2 work do not complete and T1 need run time T2 will automatically be hung up until the next one work period arrival; Carry out HIL quasi real time emulation experiment time in order to obtain good control effects, the sampling period of controller, controlled device is 10 μ ~ 1ms orders of magnitude; PWM ripple signal frequency is 1 ~ 20kHz order of magnitude, meets Shannon's sampling theorem between PWM ripple signal frequency and controlled device sample frequency, and sample frequency should be more than 2 times of PWM ripple frequency.
As improvement, in RCP quasi real time analogue system, current transformer power tube adopts IGBT switching tube, its switching frequency f
pwmbe 1 ~ 20kHz; The sampling of controller and the switch of PWM synchronous.
The beneficial effect that the present invention is compared with prior art brought is:
Solving one of connection problem approach good between off-line simulation and full-scale investigation is that the quasi real time analogue system adopting Hardware-in-the-loop simu-lation (HIL) and rapid control prototyping (RCP) to combine carries out system research and development and debugging.Off-line simulation middle controller and controlled device are all virtual, full-scale investigation middle controller and controlled device are all in kind, and HIL adopts power device and virtual controller that actual controlled device is namely actual, what RCP adopted is actual controller and virtual controlled device.Therefore HIL and RCP can be good between off-line simulation and full-scale investigation, obtain good linking effect, sufficient testing and analysis can be carried out respectively to controller and controlled device, and the coupled problem that can be good between the mathematical model of solution discrete time and the object in kind of continuous time and the clock process problem of structure changes feature, also can test completely to the communication between data and transmission problem.
Accompanying drawing explanation
Fig. 1 is HIL quasi real time simulation universal framework figure.
Fig. 2 is RCP quasi real time simulation universal framework figure.
Fig. 3 is two runs mode charts.
Fig. 4 be the DS1104 sampling period HIL is emulated affect oscillogram.
Fig. 5 be PWM wave frequency HIL is emulated affect oscillogram.
Fig. 6 be the Q8 sampling period HIL is emulated affect oscillogram.
Fig. 7 be PWM wave frequency RCP is emulated affect oscillogram.
Fig. 8 be the DS1104 sampling period RCP is emulated affect oscillogram.
The voltage oscillogram that when Fig. 9 is uncompensated, off-line simulation, HIL emulation and RCP emulate.
Figure 10 (a) is off-line simulation, HIL emulates and the terminal voltage of RCP emulation compensates oscillogram.
Figure 10 (b) is off-line simulation, HIL emulates and the DC voltage change oscillogram of RCP emulation.
Figure 10 (c) is off-line simulation, HIL emulates and the output current of converter oscillogram of RCP emulation.
Embodiment
Below in conjunction with Figure of description, the invention will be further described.
Based on a HIL and RCP quasi real time analogue system for asynchronous generator reactive power compensation technology, what the quasi real time analogue system that HIL and RCP combines adopted is the dSPACE single board system DS1104 of German dSPACE company production and the Quanser8 system of Canadian Quanser8 company production.
DSPACE single board system DS1104, can from application system Simulink auto-building model goal systems real-time code based on Simulink/Real-TimeWorkshop exploitation.Veneer DS1104 inserts in the mainboard ISA expansion slot of computing machine, and all models calculate in real time and all performed separately by DS1104, and carry out data transmission by dSPACE system I/O hardware model.DS1104 host CPU is MPC8240, and highest frequency 250MHz is furnished with TMS320F2407 type DSP, can directly export three-phase PWM gating pulse, and comprises 8 road ADC mouths, and wherein front 4 tunnels are 16, rear 4 tunnels are 12, and 8 road DAC mouths, are all 16.The voltage that DS1104 system I/O can bear is the level that positive and negative 10V, DS1104 system software I/O is merely able to bear positive and negative 1V, there is level shifting circuit inside I/O, and gain is 10.In DS1104, the task switch time is 2 μ s, D/A and digital I/O running time is 0.8 μ s.
Quanser8 system board is the multi-functional real-time measurement of a powerful and controls mainboard, has multiple hardwares function and software support.Under RTX environment, run Simulink model automatically can generate real-time code, realize the seamless link with Simulink/Real-TimeWorkshop.Quanser8 has general high-performance and measures in real time and Control card, and independently DSP and plate do not carry internal memory, adopts host CPU to carry out data processing, 8 16, tunnel A/D, 8 16, tunnel D/A, 32 railway digital I/O.The level that Quanser8 system board I/O and system software I/O can bear is all positive and negative 10V.In Quanser8, the task switch time is 2.4 μ s, D/A and digital I/O running time is 1 μ s.
In order to principle and implementation method that HIL and RCP two kinds quasi real time emulates better are described, in HIL and RCP analogue system, build asynchronous generator reactive-load compensation platform respectively.This two kinds of analogue system working methods are set forth by carrying out reactive-load compensation experiment to asynchronous generator:
HIL is simulation universal framework quasi real time
As shown in Figure 1, based on HIL asynchronous generator reactive-load compensation quasi real time simulation universal framework as, this analogue system comprises controller, controlled device and interface.Adopt dSPACE single board system DS1104 as controller, build asynchronous generator and current transformer as controlled device at Quanser8 by Simulink, interface, for carrying interface, carries out exchanges data by PNC data line between ADC and DAC.DSPACE single board system DS1104 can produce adjustable, the complementary between two pwm signal of 6 road Dead Times as controller, and dutycycle can be able to be modulated from 0 ~ 100%.The asynchronous generator terminal voltage signal of being come from the DAC oral instructions of Quanser8 by the collection of ADC mouth, current transformer current signal and current transformer DC side signal, these signals calculate through the control algolithm module of building inside DS1104, draw pwm signal.Quanser8 gathers 6 road PWM ripple signals of DS1104 transmission by the high speed digital I/O mouth of self, carries out recompile, calculate dutycycle and interrupting information through trapping module to the rising edge of PWM ripple signal and negative edge.Dutycycle and interrupting information are sent to asynchronous generator by the data bus of the real-time processor of Quanser8 and converter simulation module carries out simulation calculating, and the voltage and current signal of generation is transferred to DS1104 through DAC.Here the voltage and current signal produced be all in the Simulink by Quanser8 emulator produce, it not real sensor, the amplitude of these signals is-10V ~ 10V, in order to size be kept constant when being input to DS1104, needs to carry out no-load voltage ratio process.
RCP is simulation universal framework quasi real time
As shown in Figure 2, the asynchronous generator reactive-load compensation experimental framework figure of RCP quasi real time analogue system, this adopts dSPACE single board system DS1104 as controller in quasi real time emulating, asynchronous generator and current transformer are real experimental facilities, connecting interface between the two adopts self interface of being with, and is connected between interface by a series of change-over circuit.The testing circuits such as the voltage and current signal transducer that generator and converter system produce send into the ADC mouth of DS1104 through no-load voltage ratio process, controller collects after external transmission comes signal through calculating the PWM ripple signal producing and drive STATCOM.The PWM ripple signal intensity that controller produces is more weak, is not enough to driving switch pipe, needs to deliver in STATCOM through gate drive circuit, realize the drived control of STATCOM.
HIL and RCP be simulation clock process and parameter tuning method quasi real time
The exchanges data between different processor and process is there is in HIL and RCP quasi real time emulates, carry out signal sampling when two kinds quasi real time analogue system is all and breaks within a processor, therefore need to carry out clock process and simulation parameter is adjusted to arrive best simulated effect.
In HIL quasi real time analogue system, Quanser8 and DS1104 two systems all have oneself independently processor and clock system, two systems are all that the transmission data needing the other side real-time carry out processor calculating, therefore need rationally to arrange sampling time and clock process, when reducing Quanser8 and DS1104 two systematic samplings, produce the effect of jitter that Variable delay causes.When carrying out full-scale investigation, external signal is continuous signal, and when over-sampling circuit collection is come in, signal is converted to off-lined signal by continuous print signal, namely has external signal to be always in preparedness, there is not the problem of sampling and the generation of time delay.In order to simulate situation during this full-scale investigation, the clock system of definition Quanser8 is T1, DS1104 clock system is T2, arrange the sample rate of sample rate higher than T2 of T1, and the priority of T1 is higher than T2.T1 and T2 two clock systems are all sampled the working method of asynchronous-sampling, are sampled by self interface of being with.The task of timer system that T1 and T2 is formed, as shown in Figure 3.Timer T1 operation in timer T2 enter the preparatory stage, T1 sleep time T2 just carry out work, if T2 work do not complete and T1 need run time T2 will automatically be hung up until the next one work period arrival.
Task of timer system operating mode is known, carry out HIL quasi real time emulation experiment time in order to obtain good control effects, the sampling period of controller, controlled device should be little as much as possible, is 10 μ ~ 1ms orders of magnitude.PWM ripple signal frequency should be large as much as possible while meeting control accuracy, is 1 ~ 20kHz order of magnitude.But should ensure to meet Shannon's sampling theorem between PWM ripple signal frequency and controlled device sample frequency, namely sample frequency should be more than 2 times of PWM ripple frequency, DS1104 sampling system can distortionlessly be sampled to PWM ripple, ensures that the control of controller to STATCOM is undistorted.
In RCP quasi real time analogue system, controlled device asynchronous generator and current transformer are in kind, and controlled device is always in standby condition.Current transformer power tube adopts IGBT switching tube, and its switching frequency fpwm generally can reach 1 ~ 20kHz, even higher.Cause sampling distortion when CONTROLLER DESIGN to eliminate switch switch from fluttering when turning on and off, the sampling of controller and the switch of PWM should be synchronous, while sampling, that is also carry out the transmission of pwm signal, and the sampling period is Tc=1/f
pwm, be 50 μ s ~ 1ms orders of magnitude.RCP quasi real time analogue system only has a processor and timing system, and therefore task of timer systematic comparison is simple.
Sampling period and signal frequency quasi real time emulate impact to HIL and RCP
Quasi real time there is controller and controlled device two independently processor in analogue system in HIL, also just there is two different timer systems and sampling period.The different sampling period of each autonomous system can have an impact to experimental result, and the PWM ripple signal frequency that controller produces has impact to result equally.Carry out respectively quasi real time emulating based on the asynchronous generator reactive-load compensation of HIL in different frequency 3 kinds of situations at Different sampling period and PWM ripple signal to controller, controlled device respectively, the waveform of asynchronous generator set end voltage after carrying out reactive-load compensation as shown in Figure 4,5, 6.The parameter of electric machine is:
R
s＝3.3825Ω，R
r＝2.9733Ω
L
s＝0.008479H，L
r＝0.008479H
Fig. 4 is the impact emulated HIL in the DS1104 sampling period.The sampling period of Q8 is 0.00003s, PWM wave frequency is 12K, the DS1104 sampling period be respectively 0.00003s, 0.00008s, 0.0003s.As seen from the figure, the DS1104 sampling period is larger, and set end voltage fluctuation is larger, and when compensating, overshoot is larger.But waveform does not have distortion substantially, because the clock system priority of DS1104 is higher than Q8, as long as so Q8 sampling is normal, DS1104 is control hysteresis as controller, and shake becomes large.
Fig. 5 is the impact that PWM wave frequency emulates HIL.The sampling period of Quanser8 is 0.00003s, the DS1104 sampling period is that 0.00003s, PWM wave frequency is respectively 20K, 12K, 5K.As seen from the figure, PWM wave frequency is less, and set end voltage fluctuation is larger, and overshoot is larger when compensating.PWM wave frequency is higher, and Quanser8 can distortionlessly sample, and the control for controlled device is more accurate, so waveform is more smooth, frequency is less, and control will produce delayed, and shake becomes large.The sampling period of PWM wave frequency to be 20K, PWM be period of wave 0.00005s, Quanser8 is 0.00003s, and according to Shannon's sampling theorem, sample frequency should be greater than 2 times of highest frequency in signal spectrum, and Quanser8 can sample completely.
Fig. 6 is the impact emulated HIL in the Quanser8 sampling period.The sampling period of DS1104 is 0.00003s, PWM wave frequency is 12K, the Quanser8 sampling period be respectively 0.00001s, 0.00003s, 0.00045s.The Quanser8 sampling period is larger, and set end voltage fluctuation is larger, and waveform shake is severe, substantially out of hand when the sampling period is 0.00045s.Because when PWM wave frequency is 12K, PWM period of wave is 0.000083s, and the Quanser8 sampling period is 0.00045s, according to Shannon's sampling theorem, sample frequency should be less than 2 times of highest frequency in signal spectrum, so the PWM ripple sampling distortion that Quanser8 sends controller, therefore substantially out of hand.
RCP quasi real time analogue system only has controller processor, and different sampling periods and PWM ripple signal frequency equally also can have an impact to experimental result.Respectively to sampling period and PWM ripple signal at different frequencies 2 kinds of situations carry out respectively quasi real time emulating based on the asynchronous generator reactive-load compensation of HIL, the parameter of electric machine is the same, pusher side adopts the isolating transformer of 380V/38V to carry out low-pressure experiment, and experimental result is as Fig. 7,8.
Fig. 7 is the impact that PWM wave frequency emulates RCP.The DS1104 sampling period is that 0.00002s, PWM wave frequency is respectively 8K, 6K, 4K.PWM wave frequency is less as seen from the figure, and set end voltage fluctuation is larger, and when compensating, overshoot is larger, regulates rough.Because PWM wave frequency is less, the precision of control will reduce, and causes control time delay.
Fig. 8 is the impact emulated RCP in the DS1104 sampling period.PWM wave frequency is respectively 8K, and the DS1104 sampling period is 0.00002s, 0.00008s, 0.0002s.The DS1104 sampling period is larger as seen from the figure, fall more of set end voltage and fluctuation is also larger.Because sampling precision directly affects the precision of control.
Off-line simulation and HIL and RCP quasi real time simulation comparison
More can effective simulating actual conditions than off-line simulation in order to illustrate that HIL and RCP two kinds quasi real time emulates, respectively these 3 kinds of situations are contrasted.Carry out asynchronous generator reactive-load compensation experiment under the same conditions, the parameter of electric machine is the same.The off-line simulation sampling period is 0.00002s; During HIL emulation, the sampling period of Quanser8 be 0.00003s, PWM wave frequency is 12K, the DS1104 sampling period is 0.00003s; During RCP emulation, PWM wave frequency is 8K, the DS1104 sampling period.
When not carrying out reactive-load compensation, Generator end adds the balanced load of 5 Ω, and voltage drops into 285V from 311V, and three kinds of simulation waveforms are as Fig. 9.As seen from the figure, carrying out off-line simulation be, the falling of voltage is a step process and with any shake, and when carrying out HIL and RCP emulation, Voltage Drop needs a process, because data needing process to produce and gather when quasi real time emulating and exchange between data different processor also needs the time, also there is certain time delay in the transmission of sampling and PWM ripple.The process of the more realistic test of this process.
When not carrying out reactive-load compensation, Generator end adds the balanced load of 5 Ω, three kinds of simulation waveforms.
Figure (10a) compensates waveform for terminal voltage, can find out, during off-line simulation, Voltage Drop is comparatively large, voltage ripple-free, and in compensation process, fluctuation is large; There is ripple in HIL emulation, but when compensating, waveform is more smooth; There is ripple in RCP emulation, compensation process has time delay.Because there is not the process of data, conversion and interference during off-line simulation, and there is not time delay and physics inertia, HIL emulation carries out exchanges data and process between two different processors, there is certain interference, but data delay is less; RCP emulation has in kind intervention, and ripple is comparatively large, and there is time delay and physics inertia, more conforms to actual conditions.
Figure (10b) is DC voltage change, and it is almost unchanged that off-line simulation and HIL emulate DC side, and RCP emulates DC side to be existed and falls situation, but is through a period of time and can be stabilized in initial value.Because it is all ideal situation that off-line simulation and HIL emulate DC side, so almost unchanged, and RCP emulation DC side is actual capacitance.
Figure (10c) is output current of converter, the off-line simulation offset current when not compensating, and HIL and RCP emulation offset current is almost nil, because current transformer and motor get involved data processing at one time when off-line simulation, and HIL and RCP emulation time motor and current transformer not under same processor and clock.When compensating, the offset current of off-line simulation and HIL emulation is all a mutation process, and the offset current of RCP emulation is a progressive formation, because RCP emulation exists in kind intervention, therefore electric current can not suddenly change.
Based on HIL and the RCP quasi real time simulation frame of asynchronous generator reactive power compensation technology, and give this two kinds of analogue system clock disposal routes.Tested under different sampling periods and PWM ripple frequency content by HIL and RCP, experiment shows to adopt the method can obtain good control effects.Contrast off-line simulation and two kinds quasi real time simulation result under the same conditions, result shows, quasi real time emulates and can be good at testing system than off-line simulation, and more can object simulating experiment.The development& testing process of system can be made more convenient, effective, safe, quick.
Claims (6)
1., based on a HIL and RCP quasi real time analogue system for asynchronous generator reactive power compensation technology, comprise HIL quasi real time analogue system and RCP quasi real time analogue system, it is characterized in that:
HIL is analogue system quasi real time, comprises real controller and virtual asynchronous generator and converter simulation module as controlled device;
Carry out modeling to asynchronous generator and converter simulation module, the module that modeling produces obtains asynchronous generator terminal voltage signal, current transformer current signal and the current transformer DC side signal needed for controller control through simulation calculating; Carrying out no-load voltage ratio process to these makes its amplitude remain unchanged, and is then transferred in controller by interface and carries out computing; The asynchronous generator terminal voltage signal that controller collects, current transformer current signal and the algoritic module of current transformer DC side signal in controller carry out computing, obtain the PWM ripple signal needed for modulating; The PWM ripple signal of asynchronous generator and the transmission of converter simulation module acquires controller PWM module, carries out recompile by trapping module to the rising edge of PWM ripple signal and negative edge, calculates dutycycle and interrupting information; Dutycycle and interrupting information are sent to asynchronous generator by the data bus of real-time processor and converter simulation module carries out simulation calculating, and the voltage and current Signal transmissions of generation, to controller, forms a complete closed-loop system;
RCP is analogue system quasi real time, comprises controller and real asynchronous generator and converter system as controlled device;
The voltage and current signal that generator and converter system produce sends into controller through no-load voltage ratio process, and controller collects after external transmission comes signal through calculating the PWM ripple signal producing and drive STATCOM; The PWM ripple signal intensity that controller produces is more weak, is not enough to driving switch pipe, needs to deliver in STATCOM through gate drive circuit, realize the drived control of STATCOM;
The exchanges data between different processor and process is there is in HIL and RCP quasi real time emulates, carry out signal sampling when two kinds quasi real time analogue system is all and breaks within a processor, therefore need to carry out clock process and simulation parameter is adjusted to arrive best simulated effect.
2. a kind of HIL and RCP based on asynchronous generator reactive power compensation technology according to claim 1 quasi real time analogue system, it is characterized in that: HIL is quasi real time in analogue system, adopt dSPACE single board system DS1104 as controller, asynchronous generator and converter module is built as controlled device by Simulink at Quanser8, interface, for carrying interface, carries out exchanges data by PNC data line between ADC mouth and DAC mouth.
3. a kind of HIL and RCP based on asynchronous generator reactive power compensation technology according to claim 2 quasi real time analogue system, it is characterized in that: dSPACE single board system DS1104 can produce adjustable, the complementary between two pwm signal of 6 road Dead Times as controller, and dutycycle can be able to be modulated from 0 ~ 100%; Asynchronous generator terminal voltage signal, current transformer current signal and current transformer DC side signal that dSPACE single board system is come from the DAC oral instructions of Quanser8 by the collection of ADC mouth, these signals calculate through the control algolithm module of building inside DS1104, draw pwm signal; Quanser8 gathers 6 road PWM ripple signals of DS1104 transmission by the high speed digital I/O mouth of self, carries out recompile, calculate dutycycle and interrupting information through trapping module to the rising edge of PWM ripple signal and negative edge; Dutycycle and interrupting information are sent to asynchronous generator by the data bus of the real-time processor of Quanser8 and converter simulation module carries out simulation calculating, and the voltage and current signal of generation is passed to DS1104 through DAC oral instructions; Here the voltage and current signal produced be all in the Simulink by Quanser8 emulator produce, it not real sensor, the amplitude of these signals is-10V ~ 10V, in order to size be kept constant when being input to DS1104, needs to carry out no-load voltage ratio process.
4. a kind of HIL and RCP based on asynchronous generator reactive power compensation technology according to claim 1 quasi real time analogue system, it is characterized in that: RCP is quasi real time in analogue system, adopt dSPACE single board system DS1104 as controller, asynchronous generator and current transformer are real experimental facilities, connecting interface between the two adopts self interface of being with, and is connected between interface by change-over circuit; The voltage and current signal transducer testing circuit that generator and converter system produce sends into the ADC mouth of DS1104 through no-load voltage ratio process, controller collects after external transmission comes signal through calculating the PWM ripple signal producing and drive STATCOM; The PWM ripple signal intensity that controller produces is more weak, is not enough to driving switch pipe, needs to deliver in STATCOM through gate drive circuit, realize the drived control of STATCOM.
5. a kind of HIL and RCP based on asynchronous generator reactive power compensation technology according to claim 3 quasi real time analogue system, is characterized in that:
In HIL quasi real time analogue system, Quanser8 and DS1104 two systems all have oneself independently processor and clock system, and two systems are all that the transmission data needing the other side real-time carry out processor calculating; When carrying out full-scale investigation, external signal is continuous signal, and when over-sampling circuit collection is come in, signal is converted to off-lined signal by continuous print signal; In order to simulate situation during this full-scale investigation, the clock system of definition Quanser8 is T1, DS1104 clock system is T2, arrange the sample rate of sample rate higher than T2 of T1, and the priority of T1 is higher than T2; T1 and T2 two clock systems are all sampled the working method of asynchronous-sampling, are sampled by self interface of being with; The task of timer system that T1 and T2 is formed, timer T1 timer T2 when operation enters the preparatory stage, T1 sleep time T2 just carry out work, if T2 work do not complete and T1 need run time T2 will automatically be hung up until the next one work period arrival; Carry out HIL quasi real time emulation experiment time in order to obtain good control effects, the sampling period of controller, controlled device is 10 μ ~ 1ms orders of magnitude; PWM ripple signal frequency is 1 ~ 20kHz order of magnitude, meets Shannon's sampling theorem between PWM ripple signal frequency and controlled device sample frequency, and sample frequency should be more than 2 times of PWM ripple frequency.
6. a kind of HIL and RCP based on asynchronous generator reactive power compensation technology according to claim 3 quasi real time analogue system, it is characterized in that: in RCP quasi real time analogue system, current transformer power tube adopts IGBT switching tube, and its switching frequency fpwm is 1 ~ 20kHz; The sampling of controller and the switch of PWM synchronous.
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