CN106647324A - Hardware in-the-loop hybrid real-time simulation system interface stability improvement method - Google Patents
Hardware in-the-loop hybrid real-time simulation system interface stability improvement method Download PDFInfo
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- CN106647324A CN106647324A CN201610874304.XA CN201610874304A CN106647324A CN 106647324 A CN106647324 A CN 106647324A CN 201610874304 A CN201610874304 A CN 201610874304A CN 106647324 A CN106647324 A CN 106647324A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract
The invention discloses a hardware in-the-loop hybrid real-time simulation system interface stability improvement method. On the basis of change of an output power of a measurement device, inner-loop current control fed to a rectification end and dynamic change of a load power are directly reflected to a DC voltage control process of the rectification end, so power flows of a rectification side and an inversion side are made to be identical to reduce energy difference of a rectifier and an inverter in the unit time, DC voltage fluctuation is made to be in a permissible range, a purpose of reducing DC capacitance is realized, dynamic performance of a power interface device is improved, stability of the whole power in-the-loop simulation platform is improved, and technical improvement is provided for stable operation of large-power interface equipment.
Description
Technical field
The present invention relates to power interface stability control technical field, specifically a kind of hardware in loop mixing is real-time to be imitated
True system interface stability improvement method.
Background technology
Digital physical mixed emulation is also called hardware in loop (hardware-in-the-loop, HIL) emulation, this method
Actual physics is placed in by the virtual of real time data display foundation by test system (hardware under test, HUT)
Closed-loop simulation is carried out in power system (virtual electrical system, VES).HIL systems are divided into signal type hardware and exist
Ring (control hardware-in-the-loop CHIL) is emulated and power connecting-type hardware in loop (power hardware-
In-the-loop, PHIL) emulation.Other emulation technologies are compared, HIL emulation has many advantages, and it passes through real-time simulator
Part to real electrical equipment can be repeatedly carry out accurate, stable experimental study, even if it minimize reduce various
Emulation cost and risk under extreme condition, the maximized defect that have detected simulated electrical equipment, it is to avoid be difficult to bear
Loss.
In digital physical mixed real-time simulation, power interface carries connection real time data display and physics is tested
The important function of system.The precision and dynamic property of its output is directly connected to the validity of whole system and platform and stablizes
Property.Using this topology of back-to-back four quadrant convertor more than power interface, to connect and have a vertical compression electricity between two current transformers
Hold.When interface accesses equipment under test or plant capacity is mutated, the energy of rectifier and inverter fails to put down in synchronization
Weighing apparatus, and then causes DC voltage fluctuation, affect the stability of whole digital physical hybrid simulation system, therefore vertical compression control sets
Meter is particularly important.
Industrial how unstable using increase vertical compression capacitive way alleviation vertical compression, high cost, equipment volume is big, and transport is not
Just.
In order to both effective control vertical compression is stablized, and energy reduces cost, the present invention is by introducing power feedforward control method energy
The homeostasis energy of rectifier and inverter is enough better achieved, realizes that vertical compression is stablized, improve HIL emulation stability.And
And volume is less, cost is lower.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of that prior art is present, there is provided a kind of hardware in loop based on feedforward control is mixed
Close real-time emulation system interface stability improvement method.
The present invention principle be：By sampled output current signal ioutWith output voltage signal UoutCalculate load work(
Rate, bearing power feedovers to the control of rectification side current inner loop, equal reducing list so as to control rectification side and inverter side power flow
The energy difference of rectifier and inverter, makes DC voltage fluctuation in allowed band in the time of position, reaches and reduces DC capacitor
Purpose, and then improve the dynamic property and stability, i.e. power feedforward control methods of vertical compression.
A kind of hardware in loop hybrid real-time simulation system interface stability improvement method of the present invention, comprises the steps：
Step one, builds power hardware in ring hybrid simulation system platform, and real electric power system model is emulated
Simulation；
Step 2, analogue simulation is carried out using RTDS digital simulators to actual electric network model；
Step 3, is amplified reduction, so using power interface device to the node voltage signal of RTDS digital simulators
After be carried in equipment under test two ends；
Step 4, in power interface device, double PWM converters adopt respective independent control, rectifier to use two close cycles
PI controls carry out vertical compression control, and inverter realizes the amplification of current and voltage signals using Repetitive controller and active damping control jointly
Reduction；
Step 5, by Hall element the voltage and current value of load end input is detected, is calculated by ARM chips negative
Carry power；By the bearing power tried to achieve through feedforward controller, it is added to the control of rectifier current inner ring and makees disturbance feedforward benefit
Repay.
The step 5 is specially：Pass through Hall element sampled output current signal i firstoutAnd output voltage signal
Uout, the power P such as formula (1) of load end is tried to achieve by multiplier, input power P is tried to achieve into correspondence input power by formula (2) is
The peak value i of output current during PPF, by iPFWith the electric current i after vertical compression controlrefCos ω t are multiplied by after addition, are formed with reference to electricity
Stream, the given i of the product of the electric network voltage phase information that reference current and phase-locked loop pll are obtained as current inner loopPref,
P=Uout*Iout (1)
iPref=(iref+iPF)cosωt (3)
UsFor the virtual value of line voltage；The effect of cos ω t is to generate the waveform in the same direction with voltage.
The producer of the RTDS digital simulators in the step 2 is Canada's Manitoba direct currents research center.
Electric network model in the step 2 is the model of voltage source and internal impedance.
Compared with prior art, the beneficial effects of the present invention is：
The present invention on the basis of existing rectifier double-close-loop direct pressure controller, introduce load-side power feedforward realize it is right
The tracking of load signal, realizes rectification side and inverter side power flow is equal is mutated this dynamic process in bearing power so as to reach
Middle DC voltage remains stable, improves the dynamic response performance of whole numeral physical simulation system, with more low cost, realizes
It is simple to wait remarkable advantage.
Description of the drawings
Fig. 1 is the hardware in loop hybrid real-time simulation system construction drawing of the present invention；
Fig. 2 is the power interface structure chart based on back-to-back four quadrant convertor of the present invention；
Fig. 3 is the power interface rectifying part vertical compression control block diagram of the present invention；
Fig. 4 is the DC voltage waveform design sketch for increasing vertical compression electric capacity；
Fig. 5 is using the DC voltage waveform design sketch of power feedforward control method；
Fig. 6 is the flow chart of the step five of the present invention；
In figure, H1～H6- IGBT power switch pipes；US- Digital Simulation System sends signal；T1The isolation of-rectifier terminal becomes
Depressor；C-DC capacitor；iL2- filter inductance L2Electric current；iL3、Uout- load end Current Voltage；C1- filter capacitor；
Udc- DC capacitor voltage；Km- feedforward control coefficient；Ua- rectification input terminal voltage；Gu(s)- outer voltage PI control transmission
Function；Gi(s)- current inner loop PI controls transmission function；GPWM- PWM controller transmission function；GH- H bridge current transfer functions.
Specific embodiment
Below by embodiment, and the invention will be further described to combine accompanying drawing.
As Figure 1-Figure 5, a kind of hardware in loop hybrid real-time simulation system interface stability improvement method, including it is following
Step：
(1) part electrical network is simulated using real-timedigital simulation device and is emulated.The electrical network of the simulation that the present invention is adopted
Object is the model of voltage source and internal impedance, by power interface to new-energy grid-connected testing equipment.The RTDS for being adopted
Digital simulator, is by the proposition of Canadian Manitoba direct currents research center, electric system simulation dress the most ripe in the world
Put.
(2) corresponding parameter designing and bug check are carried out to power interface device.The power for adopting in the present invention connects
Mouth device is voluntarily developed by electrical engineering institute of Wuhan University, as shown in Fig. 2 the back-to-back two-way change of 100kW three-phase four-wire systems
Stream device device, using three independent H bridge constructions, outlet filter adopts LCL filter, and control strategy is using based on internal model
The Repetitive Control of principle.
(3) after putting up power hardware assemblage on-orbit platform, base of the present invention in the voltage-controlled system of existing rectifier terminal double-close-loop direct
On plinth, feedforward control of the output loading power to rectifier terminal is introduced, as shown in Figure 3.Exported by Hall element sampling first
Current signal ioutWith output voltage signal Uout, the power P such as formula (1) of load end is tried to achieve by multiplier, input power P is led to
Cross the peak value i that (2) try to achieve output current when correspondence input power is PPF, by iPFWith the electric current i after vertical compression controlrefAfter addition
Be multiplied by cos ω t, form reference current, the product of the electric network voltage phase information that reference current and phase-locked loop pll are obtained as
The given i of current inner loopPref。
P=Uout*Iout (1)
iPref=(iref+iPF)cosωt (3)
UsFor the virtual value of line voltage；The effect of cos ω t is to generate the waveform in the same direction with voltage.Using power
Feedforward control can set up the direct contact of input power and output current, when input power changes, directly will input
The change information of power passes to grid-connected current controlling unit, improves the dynamic response that whole system changes to power output
Can, so as to improve the stability of power interface.
It is flat in the digital physical mixed emulation of the 100KVA for building in order to verify the feasibility and validity of the present invention program
Compliance test result test is carried out on platform.DC voltage is 400V, and line voltage is 220V/50Hz, the parameters of interface arrangement
For：Input inductance L1=0.02mH, vertical compression electric capacity C=10000uF, output inductor L2=0.2mH, filter capacitor C1=
60uF, equivalent filter inductive resistance R2=0.0001 Ω, equivalent filter capacitance resistance Rc=0 Ω, sampling/switching frequency=
1MHZ, Repetitive controller parameter Kr=2, Repetitive controller parameter Ks=1.5, Repetitive controller parameter Kf=0.9, active damping control ginseng
Number Kc=8.
Fig. 4 is the DC voltage waveform for not adding power feedforward, and Fig. 5 is the direct current for adding power feedforward proposed by the present invention
Corrugating.From Fig. 4 contrast as can be seen that when bearing power is mutated the DC voltage of two methods all can produce it is different degrees of
Fluctuation, but do not add the DC voltage fluctuation of power feedforward substantially, system trip protection is even resulted in, and add power feedforward
DC voltage fluctuation it is very little, and the stable state of normal work can be returning momentarily to, it can be seen that adding power
Feedforward with effective control DC voltage stability, can improve the dynamic property and stability of power interface, and the present invention of checking is carried
The validity of the improved method for going out.
Claims (4)
1. a kind of hardware in loop hybrid real-time simulation system interface stability improvement method, it is characterised in that comprise the steps：
Step one, builds power hardware in ring hybrid simulation system platform, and to real electric power system model analogue simulation is carried out；
Step 2, analogue simulation is carried out using RTDS digital simulators to actual electric network model；
Step 3, reduction, Ran Houjia are amplified using power interface device to the node voltage signal of RTDS digital simulators
It is loaded in equipment under test two ends；
Step 4, in power interface device, double PWM converters adopt respective independent control, rectifier to control using two close cycles PI
System carries out vertical compression control, and inverter controls the amplification for realizing current and voltage signals jointly also using Repetitive controller and active damping
It is former；
Step 5, by Hall element the voltage and current value of load end input is detected, by ARM chips load work(is calculated
Rate；By the bearing power tried to achieve through feedforward controller, it is added to the control of rectifier current inner ring and makees disturbance feedback compensation.
2. the method for claim 1, it is characterised in that the step 5 is specially：Sampled by Hall element first
Output current signal ioutWith output voltage signal Uout, the power P such as formula (1) of load end is tried to achieve by multiplier, by input work
Rate P tries to achieve the peak value i of output current when correspondence input power is P by formula (2)PF, by iPFWith the electric current after vertical compression control
irefCos ω t are multiplied by after addition, reference current is formed, the electric network voltage phase information that reference current and phase-locked loop pll are obtained
Product as current inner loop given iPref,
P=Uout*Iout (1)
iPref=(iref+iPF)cosωt (3)
UsFor the virtual value of line voltage；The effect of cos ω t is to generate the waveform in the same direction with voltage.
3. the method for claim 1, it is characterised in that：The producer of the RTDS digital simulators in the step 2 is to add
Put on airs Manitoba direct currents research center.
4. the method for claim 1, it is characterised in that：Electric network model in the step 2 is voltage source and internal impedance
Model.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108011391A (en) * | 2017-12-13 | 2018-05-08 | 武汉大学 | The flexible DC power transmission hybrid simulation system power interface algorithm of virtual resistance compensation |
| CN108536925A (en) * | 2018-03-21 | 2018-09-14 | 武汉大学 | A kind of isolated form dynamic overall process Real Time Hybrid Simulation interface system |
| TWI746196B (en) * | 2020-10-05 | 2021-11-11 | 財團法人工業技術研究院 | Hardware-in-the-loop simulation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN108536925A (en) * | 2018-03-21 | 2018-09-14 | 武汉大学 | A kind of isolated form dynamic overall process Real Time Hybrid Simulation interface system |
| CN108536925B (en) * | 2018-03-21 | 2021-03-16 | 武汉大学 | Isolated dynamic whole-process real-time hybrid simulation interface system |
| TWI746196B (en) * | 2020-10-05 | 2021-11-11 | 財團法人工業技術研究院 | Hardware-in-the-loop simulation device |
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