CN111079268A - Online simulation method and system for LCC direct current transmission electromechanical electromagnetic hybrid system - Google Patents
Online simulation method and system for LCC direct current transmission electromechanical electromagnetic hybrid system Download PDFInfo
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Abstract
The invention discloses an on-line simulation method and system of an electromagnetic hybrid system of an LCC direct current power transmission machine, which comprises the following steps: building a primary system circuit and a secondary control system model of the direct current power transmission system based on an electromagnetic transient simulation program, and packaging the primary system circuit and the secondary control system model into a direct current sub-module called by electromechanical transient simulation; respectively carrying out equivalence processing on the direct current sub-modules by the electromechanical transient whole network and equivalence processing on the electromechanical transient whole network by the direct current sub-modules; and data exchange between the electromechanical transient state whole network and the direct current sub-module is realized through the equivalent circuit, and the electromechanical transient state whole network and the direct current sub-module are mutually called according to a preset calling time sequence to carry out electromechanical-electromagnetic transient state hybrid simulation. The invention solves the problems that the transient characteristic of the direct current transmission equipment can not be accurately simulated in the electromechanical transient simulation and the electromagnetic transient simulation is difficult to simulate a large-scale alternating current and direct current power grid, realizes the parallel calculation of the electromechanical transient whole grid and the direct current sub-module under the steady state condition, and ensures the simulation calculation speed and the calculation precision when the sub-module is called.
Description
Technical Field
The invention relates to the technical field of electromechanical transient simulation, in particular to an online simulation method and system of an LCC direct current transmission electromechanical and electromagnetic hybrid system.
Background
The high-voltage direct-current transmission equipment has quick response capability to system disturbance, and an electromechanical transient simulation program adopts a quasi-steady-state model for the HVDC device, so that transient voltage and current response of a device interface or the inside of the device cannot be simulated; although the electromagnetic transient simulation program can accurately simulate the transient characteristics of complex direct-current transmission equipment, the electromagnetic transient simulation program is limited by the calculation and storage capacity of a computer, and the whole-network electromagnetic transient simulation of a large-scale power system is difficult to perform even if a parallel algorithm is adopted; the existing hybrid simulation algorithm needs to establish an electromagnetic transient model of the HVDC and the HVDC controller in a program, different devices and different control strategies need to compile different programs, the universality is lacked, the building process of the hybrid simulation algorithm is complex, and the efficiency of large-scale AC/DC power grid simulation analysis is influenced. The electromagnetic transient program ETSDAC in the ADPSS can flexibly establish a model of a direct current transmission system, a simulation system is constructed under a full graphical interface without compiling electromagnetic transient simulation codes, the direct current model is packaged and has certain universality and independence, and the direct current model becomes a direct current sub-module in electromechanical transient simulation and can be popularized to a simulation method of the direct current transmission system in the electromechanical transient simulation process of any alternating current-direct current hybrid system.
Disclosure of Invention
The invention provides an online simulation method and system of an electromechanical and electromagnetic hybrid system of LCC direct current transmission, and aims to solve the problem of how to realize online simulation of electromechanical and electromagnetic hybrid.
In order to solve the above problem, according to an aspect of the present invention, there is provided an online simulation method of an LCC direct current transmission electromechanical and electromagnetic hybrid system, the method including:
building a primary system circuit and a secondary control system model of the direct current power transmission system based on an electromagnetic transient simulation program, and packaging the primary system circuit and the secondary control system model into a direct current sub-module called by electromechanical transient simulation;
respectively carrying out equivalence processing on the direct current sub-modules by the electromechanical transient whole network and equivalence processing on the electromechanical transient whole network by the direct current sub-modules;
and data exchange between the electromechanical transient state whole network and the direct current sub-module is realized through the equivalent circuit, and the electromechanical transient state whole network and the direct current sub-module are mutually called according to a preset calling time sequence to carry out electromechanical-electromagnetic transient state hybrid simulation.
Preferably, the performing equivalence processing on the direct-current sub-module by the electromechanical transient whole network and equivalence processing on the electromechanical transient whole network by the direct-current sub-module respectively includes:
when the internal network calculation of the direct current sub-module is carried out, Thevenin equivalence is carried out on the electromechanical transient state whole network, and a power frequency equivalent impedance array and positive, negative and zero sequence equivalent potentials of boundary points of the electromechanical transient state whole network are obtained to be provided for the direct current sub-module;
when electromechanical transient state whole network calculation is carried out, norton equivalence is carried out on the direct current sub-module, and positive, negative and zero sequence currents and voltages of an equivalent admittance matrix and boundary points of the direct current sub-module are obtained to be provided for the electromechanical transient state whole network.
Preferably, the data exchange between the electromechanical transient state full network and the dc sub-module is realized through an equivalent circuit, and the electromechanical transient state full network and the dc sub-module are mutually called according to a preset calling time sequence to perform electromechanical-electromagnetic transient state hybrid simulation, including:
step 2, the direct current sub-module utilizes the acquired Thevenin equivalent impedance and equivalent potential of the boundary point to carry out the current period [ T ]i,Ti+1]Calculating an electromagnetic transient simulation step length;
step 4, the electromechanical transient state whole network utilizes the obtained fundamental wave effective values of the voltage and the current of the boundary points to carry out the current period Ti,Ti+1]Calculating an electromechanical transient simulation step length; meanwhile, the direct current sub-module calculates the electromagnetic transient simulation step length of the next period according to the acquired Thevenin equivalent impedance and equivalent potential of the boundary point of the electromechanical transient whole network;
step 5, judging whether the topological structure of the system changes or not, if so, ending the simulation; otherwise, use Ti＝Ti+ △ T, updating the simulation period and returning to the step 3, wherein △ T is the simulation step size.
Preferably, wherein the method further comprises:
when the electromagnetic transient computing network is at TnWhen a fault occurs at any moment, the calculation after the fault is not started in the electromagnetic transient calculation process of the direct current sub-module or the electromechanical transient whole-network calculation process, the interface information is sent to the electromagnetic transient calculation process of the direct current sub-module in the electromechanical transient whole-network calculation process as usual, and after the information is obtained in the electromagnetic transient calculation process of the direct current sub-module, the calculation of a cycle is carried out until Tn+2At the moment, a cycle time period [ T ] is calculatedn,Tn+2]The voltage and current fundamental wave effective values of the boundary points are sent to an electromechanical transient calculation process, and after the electromechanical transient acquires equivalent circuit parameters of the electromagnetic transient network, the calculation of two step lengths is continuously carried out until Tn+1Time of day, from Tn+1And starting at the moment, and restoring the interface time sequence of the two computing processes to be the basic exchange time sequence until the next network topology change or the simulation is finished.
Preferably, wherein the electromagnetic transient simulation program is ADPSS-ETSDAC.
According to another aspect of the present invention, there is provided an online simulation system of an LCC direct current transmission electromechanical electromagnetic hybrid system, the system comprising:
the simulation model establishing unit is used for establishing a primary system circuit and a secondary control system model of the direct current power transmission system based on an electromagnetic transient simulation program and packaging the primary system circuit and the secondary control system model into a direct current sub-module called by electromechanical transient simulation;
the equivalence processing unit is used for respectively carrying out equivalence processing on the direct current sub-modules by the electromechanical transient whole network and equivalence processing on the electromechanical transient whole network by the direct current sub-modules;
and the hybrid simulation unit is used for realizing data exchange between the electromechanical transient whole network and the direct current sub-module through the equivalent circuit, and the electromechanical transient whole network and the direct current sub-module are mutually called according to a preset calling time sequence to carry out electromechanical-electromagnetic transient hybrid simulation.
Preferably, the equivalence processing unit performs equivalence processing on the direct-current sub-module by the electromechanical transient whole network and equivalence processing on the electromechanical transient whole network by the direct-current sub-module, respectively, and includes:
when the internal network calculation of the direct current sub-module is carried out, Thevenin equivalence is carried out on the electromechanical transient state whole network, and a power frequency equivalent impedance array and positive, negative and zero sequence equivalent potentials of boundary points of the electromechanical transient state whole network are obtained to be provided for the direct current sub-module;
when electromechanical transient state whole network calculation is carried out, norton equivalence is carried out on the direct current sub-module, and positive, negative and zero sequence currents and voltages of an equivalent admittance matrix and boundary points of the direct current sub-module are obtained to be provided for the electromechanical transient state whole network.
Preferably, the hybrid simulation unit realizes data exchange between the electromechanical transient state full network and the dc sub-module through an equivalent circuit, and the electromechanical transient state full network and the dc sub-module are mutually called according to a preset calling time sequence to perform electromechanical-electromagnetic transient state hybrid simulation, including:
the Thevenin equivalent impedance and potential acquisition subunit is used for enabling the electromechanical transient whole network to acquire Thevenin equivalent impedance and equivalent potential of a boundary point and transmitting the Thevenin equivalent impedance and equivalent potential to the direct current submodule;
an electromagnetic transient simulation calculation subunit, which is used for enabling the direct current submodule to carry out the current period [ T ] by utilizing the acquired Thevenin equivalent impedance and equivalent potential of the boundary pointi,Ti+1]Calculating an electromagnetic transient simulation step length;
a fundamental wave effective value acquisition subunit of the voltage and the current for calculating to the current period Ti,Ti+1]End time T ofi+1Then, the DC sub-module completes the calculation of an electromagnetic transient simulation step length by using the current period Ti,Ti+1]Calculating fundamental wave effective values of the voltage and the current of the boundary point according to the calculation result of the cycle, and sending the fundamental wave effective values of the voltage and the current of the boundary point to an electromechanical transient state whole network for simulation calculation; at the same time, the simulation calculation process of the electromechanical transient whole network is obtained againTaking the Davis equivalent impedance and the equivalent potential of the electromechanical transient whole network;
an electromechanical transient simulation subunit, which is used for leading the electromechanical transient whole network to utilize the acquired fundamental effective values of the boundary point voltage and the current to carry out the current period [ T ]i,Ti+1]Calculating an electromechanical transient simulation step length; meanwhile, the direct current sub-module calculates the electromagnetic transient simulation step length of the next period according to the acquired Thevenin equivalent impedance and equivalent potential of the boundary point of the electromechanical transient whole network;
the judging subunit is used for judging whether the topological structure of the system changes or not, and if so, ending the simulation; otherwise, use Ti＝Ti+ △ T, updating the simulation period and entering the fundamental wave effective value acquisition subunit of the voltage and the current, wherein △ T is the simulation step size.
Preferably, the hybrid simulation unit further includes:
a fault handling subunit for calculating the network at T when the electromagnetic transient is presentnWhen a fault occurs at any moment, the calculation after the fault is not started in the electromagnetic transient calculation process of the direct current sub-module or the electromechanical transient whole-network calculation process, the interface information is sent to the electromagnetic transient calculation process of the direct current sub-module in the electromechanical transient whole-network calculation process as usual, and after the information is obtained in the electromagnetic transient calculation process of the direct current sub-module, the calculation of a cycle is carried out until Tn+2At the moment, a cycle time period [ T ] is calculatedn,Tn+2]The voltage and current fundamental wave effective values of the boundary points are sent to an electromechanical transient calculation process, and after the electromechanical transient acquires equivalent circuit parameters of the electromagnetic transient network, the calculation of two step lengths is continuously carried out until Tn+1Time of day, from Tn+1And starting at the moment, and restoring the interface time sequence of the two computing processes to be the basic exchange time sequence until the next network topology change or the simulation is finished.
Preferably, wherein the electromagnetic transient simulation program is ADPSS-ETSDAC.
The invention provides an online simulation method and system of an electromagnetic hybrid system of an LCC direct current transmission machine, which realize the collaborative simulation calculation of a direct current transmission system model and other power grids by an electromechanical-electromagnetic transient hybrid simulation technology, solve the problems that the transient characteristic of direct current transmission equipment in electromechanical transient simulation can not be accurately simulated and the electromagnetic transient simulation is difficult to simulate a large-scale alternating current and direct current power grid, and also avoid the complexity and the limitation of building an alternating current and direct current power grid simulation example in general electromechanical transient simulation, form a universal calling function of an alternating current and direct current electromechanical simulation program for a direct current packaging model, and improve the accuracy of the electromechanical transient simulation calculation of the alternating current and direct current power grid; the invention provides an equivalent circuit and an interface data exchange time sequence suitable for calling a direct current submodule by an electromechanical transient state whole network, is suitable for various conditions such as active networks and passive networks based on a basic circuit theory, realizes the parallel calculation of the electromechanical transient state whole network and the direct current submodule under a steady state condition, ensures the simulation calculation speed when the submodule is called, and does not reduce the simulation calculation precision.
Drawings
A more complete understanding of exemplary embodiments of the present invention may be had by reference to the following drawings in which:
FIG. 1 is a flow chart of a method 100 for online simulation of an LCC direct current transmission electromechanical electromagnetic hybrid system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a dc power transmission system according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a Thevenin equivalent model of an electromechanical transient whole network according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a Norton equivalent model of a DC sub-module according to an embodiment of the invention;
FIG. 5 is a diagram illustrating a data exchange method during a process of calling a DC sub-module by an electrical simulation program according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a timing sequence for invoking a DC sub-module in a normal electromechanical transient state full network according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a calling timing sequence of an electromechanical transient state whole network to a direct current submodule under a fault according to an embodiment of the invention; and
fig. 8 is a schematic structural diagram of an online simulation system 800 of an LCC direct current transmission electromechanical and electromagnetic hybrid system according to an embodiment of the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, 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. Further, it will be 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 relevant art and will not be interpreted in an idealized or overly formal sense.
Fig. 1 is a flow chart of an online simulation method 100 of an LCC direct current transmission electromechanical electromagnetic hybrid system according to an embodiment of the present invention. As shown in fig. 1, the online simulation method of the LCC direct-current power transmission electromechanical and electromagnetic hybrid system provided in the real-time manner of the present invention realizes the collaborative simulation calculation of the direct-current power transmission system model and the other power grids through the electromechanical-electromagnetic transient hybrid simulation technology, solves the problems that the transient characteristics of the direct-current power transmission equipment in the electromechanical transient simulation cannot be accurately simulated and the electromagnetic transient simulation is difficult to simulate a large-scale alternating-current/direct-current power grid, and also avoids the complexity and limitation of building an alternating-current/direct-current power grid simulation example in the general electromechanical transient simulation, forms a function of calling a direct-current encapsulation model by a general alternating-current/direct-current electromechanical simulation program, and improves the accuracy of the. The online simulation method 100 for the LCC direct-current transmission electromechanical and electromagnetic hybrid system provided by the embodiment of the invention starts from step 101, and builds a primary system circuit and a secondary control system model of the direct-current transmission system based on an electromagnetic transient simulation program in step 101, and packages the primary system circuit and the secondary control system model into a direct-current sub-module called by electromechanical transient simulation.
Preferably, wherein the electromagnetic transient simulation program is ADPSS-ETSDAC.
In the embodiment of the invention, the basic element model in the ETSDAC is built, and the most common domestic bipolar direct current transmission system form is adopted, as shown in the attached figure 2. Each pole is composed of 2 six-pulse converters (twelve-pulse direct current) or 4 six-pulse converters (double twelve-pulse direct current), and 6 pulse converters at two poles are connected with a neutral point grounding resistor through an inductor and then grounded; meanwhile, two ends of the current converter of each pole are respectively connected with the smoothing reactor on the other side in series through the smoothing reactor and the direct-current transmission line resistor; the commutation bus is connected with a plurality of compensation capacitors and a plurality of groups of alternating current filters in parallel. An electromechanical-electromagnetic transient hybrid simulation interface is connected to a current conversion bus of the direct-current transmission system, so that the current conversion bus can be called by a large power grid model in electromechanical transient.
The secondary system control protection loop is built and packaged by adopting an electromagnetic transient simulation program graphical interface, each pole of each station of the direct current transmission system is respectively assembled in a row, and fig. 4 is a control logic of the built secondary control system. Under normal conditions, the rectification side adopts constant current control, the measured current of a direct current line at the rectification side and the current value returned by the low-voltage current limiting module are processed by an adder/subtracter and set by a PI controller to obtain a trigger angle of a converter valve at the rectification side, the trigger angle is used as an input value and returned to a converter in a main circuit of a direct current transmission system, and the rectification side of the main circuit of the direct current system is controlled. The inverter side adopts a control mode combining constant current control, constant voltage control and constant arc-quenching angle control, the output value of the inverter side low-voltage current limiting module and the measured current input to the inverter side direct current line are subjected to difference processing through an adder/subtracter, then the difference is obtained through the adder/subtracter and a current margin value, and the difference is set through a PI controller, and finally, constant current control output is formed; the measured value of the arc extinguishing angle, the value output by the current deviation control module and the rated arc extinguishing angle fixed value are processed by an adder/subtracter and then are set by a PI controller to form fixed arc extinguishing angle control output; and after the inversion side measured value and the rated voltage constant value are processed by an adder/subtracter, the inversion side measured value and the rated voltage constant value are set by a PI controller to form constant voltage control output. The constant current control, the constant voltage control and the constant extinction angle control are output, and finally, the minimum value selection module is used for carrying out the small value selection processing; and obtaining an inversion side trigger angle, returning the inversion side trigger angle as an input value to a converter in the main circuit of the direct current transmission system, and controlling the inversion side of the main circuit of the direct current transmission system.
According to the embodiment of the invention, the direct-current power transmission system model is constructed under the ETSDAC full-graphical interface without compiling electromagnetic transient simulation codes, so that the complexity and limitation of direct-current power transmission system modeling in general hybrid simulation are avoided, the encapsulated model is suitable for different alternating-current and direct-current power transmission simulation systems, is not limited to a specific electromechanical network, and is not required to be changed or rebuilt, so that the simulation process is simplified.
In step 102, equivalence processing of the electromechanical transient whole network on the direct current sub-module and equivalence processing of the electromechanical transient whole network on the direct current sub-module are respectively performed.
Preferably, the performing equivalence processing on the direct-current sub-module by the electromechanical transient whole network and equivalence processing on the electromechanical transient whole network by the direct-current sub-module respectively includes:
when the internal network calculation of the direct current sub-module is carried out, Thevenin equivalence is carried out on the electromechanical transient state whole network, and a power frequency equivalent impedance array and positive, negative and zero sequence equivalent potentials of boundary points of the electromechanical transient state whole network are obtained to be provided for the direct current sub-module;
when electromechanical transient state whole network calculation is carried out, norton equivalence is carried out on the direct current sub-module, and positive, negative and zero sequence currents and voltages of an equivalent admittance matrix and boundary points of the direct current sub-module are obtained to be provided for the electromechanical transient state whole network.
In the embodiment of the present invention, the processes of performing equivalence processing on the electromechanical transient state whole network to the direct current sub-module and the electromechanical transient state whole network by the direct current sub-module are respectively shown in fig. 3 and 4, which are equivalence processing modes of the electromechanical transient state whole network to the direct current sub-module. When network calculation inside a direct current sub-module is carried out, carrying out Vietnam equivalence on an electromechanical transient state whole network to generate a power frequency equivalent impedance array Z of the electromechanical transient state network and positive, negative and zero sequence equivalent potentials E of boundary points to provide for an electromagnetic transient state network; (2) when electromechanical transient state whole network calculation is carried out, norton equivalence is carried out on the direct current sub-module, and the direct current sub-module calculates positive, negative and zero sequence currents and voltages of an equivalence admittance matrix and boundary points.
In step 103, data exchange between the electromechanical transient state whole network and the direct current sub-module is realized through the equivalent circuit, and the electromechanical transient state whole network and the direct current sub-module are mutually called according to a preset calling time sequence to perform electromechanical-electromagnetic transient state hybrid simulation.
Preferably, the data exchange between the electromechanical transient state full network and the dc sub-module is realized through an equivalent circuit, and the electromechanical transient state full network and the dc sub-module are mutually called according to a preset calling time sequence to perform electromechanical-electromagnetic transient state hybrid simulation, including:
step 2, the direct current sub-module utilizes the acquired Thevenin equivalent impedance and equivalent potential of the boundary point to carry out the current period [ T ]i,Ti+1]Calculating an electromagnetic transient simulation step length;
step 4, the electromechanical transient state whole network utilizes the obtained fundamental wave effective values of the voltage and the current of the boundary points to carry out the current period Ti,Ti+1]Calculating an electromechanical transient simulation step length; meanwhile, the direct current sub-module calculates the electromagnetic transient simulation step length of the next period according to the acquired Thevenin equivalent impedance and equivalent potential of the boundary point of the electromechanical transient whole network;
step 5, judging whether the topological structure of the system is changed,if yes, ending the simulation; otherwise, use Ti＝Ti+ △ T, updating the simulation period and returning to the step 3, wherein △ T is the simulation step size.
Preferably, wherein the method further comprises:
when the electromagnetic transient computing network is at TnWhen a fault occurs at any moment, the calculation after the fault is not started in the electromagnetic transient calculation process of the direct current sub-module or the electromechanical transient whole-network calculation process, the interface information is sent to the electromagnetic transient calculation process of the direct current sub-module in the electromechanical transient whole-network calculation process as usual, and after the information is obtained in the electromagnetic transient calculation process of the direct current sub-module, the calculation of a cycle is carried out until Tn+2At the moment, a cycle time period [ T ] is calculatedn,Tn+2]The voltage and current fundamental wave effective values of the boundary points are sent to an electromechanical transient calculation process, and after the electromechanical transient acquires equivalent circuit parameters of the electromagnetic transient network, the calculation of two step lengths is continuously carried out until Tn+1Time of day, from Tn+1And starting at the moment, and restoring the interface time sequence of the two computing processes to be the basic exchange time sequence until the next network topology change or the simulation is finished.
In the implementation mode of the invention, the power frequency equivalent impedance array Z of the electromechanical transient whole network is obtained by simulating the electromagnetic transient simulation process at the initial moment; FIG. 4 is a diagram of a data exchange manner in the process of calling a DC submodule by an electromechanical simulation program, wherein at each calling moment, the electromagnetic transient simulation process of the DC submodule transmits positive, negative and zero sequence currents I of boundary points to the electromechanical transient large power grid simulation processemtAnd positive, negative and zero sequence voltages V of boundary pointsemt(ii) a And the electromechanical transient large power grid simulation process transmits the positive, negative and zero sequence equivalent potentials E of the boundary points to the electromagnetic transient simulation process.
Fig. 6 is a schematic diagram of a call timing sequence of the electromechanical transient full network to the dc submodule under a normal condition according to the embodiment of the present invention. In the embodiment of the invention, under the normal condition, the electromechanical transient whole network and the direct current submodule are mutually called according to the time sequence shown in fig. 6 to carry out electromechanical-electromagnetic transient hybrid simulation. And calling the direct-current sub-module by taking the electromechanical transient calculation step as a unit. The method comprises the following specific steps:
and S1, at the starting moment of simulation, transmitting the Thevenin equivalent impedance and equivalent potential values of the electromechanical transient whole network at the boundary point to the direct-current submodule.
S2, the direct current sub-module carries out T by utilizing the Thevenin equivalent impedance and the equivalent potential value obtained from the electromechanical transient simulation process0To T1Custom calculation of a time period, where T0For electromechanical transient simulation, a starting time, T, of a calculation time step1And calculating the end time of the time step for the electromechanical transient simulation.
S3, calculating the direct current sub-module to T1At time, [ T ] is used0,T1]And calculating a calculation result of a cycle in the period to obtain fundamental wave effective values of parameters such as boundary point voltage, current and the like, and sending the fundamental wave effective values into the whole network electromechanical transient simulation process. Meanwhile, Thevenin equivalent impedance and potential of the electromechanical transient network are obtained from the electromechanical transient simulation calculation process.
S4, after boundary point information is obtained in the electromechanical transient calculation process, T is carried out0-T1And (4) computing the time network. Meanwhile, after the Thevenin equivalent potential of the electromechanical transient network is obtained in the calculation process of the direct current sub-module, [ T ] is carried out1,T2]And (4) custom calculation of the time period.
S5, calculating the direct current sub-module to T2At the time, the past [ T ] is used1,T2]And calculating the fundamental wave effective value of parameters such as boundary point voltage, current and the like according to the calculation result of one cycle in the period, and sending the fundamental wave effective value into the electromechanical transient calculation process. Meanwhile, Thevenin equivalent potential of the electromechanical transient whole network at the boundary point is calculated by the electromechanical transient and is sent to a direct current sub-module for calculation.
By changing the value of T, T is T + Δ T (T is the calculation time, Δ T is the calculation step), the above call is repeated until the system topology changes or the simulation ends.
Fig. 7 is a schematic diagram of a calling timing sequence of the electromechanical transient full-network to the dc submodule under a fault according to an embodiment of the present invention. As shown in fig. 7, the processing method of calling the timing when the system fails is described. For example, suppose T4Time of day, electromagnetic transientWhen the computing network is in fault, the calculation after the fault is not started in the electromagnetic transient calculation process of the direct current sub-module or the electromechanical transient whole-network calculation process, the interface information is sent to the electromagnetic transient calculation process of the direct current sub-module as usual in the electromechanical transient whole-network calculation process, and after the information is obtained in the electromagnetic transient calculation process of the direct current sub-module, a cycle is calculated until T6At the moment, T is added4-T6The effective value of the boundary fundamental wave of the cycle time period is calculated, the information is sent to the electromechanical transient calculation process, and after the electromechanical transient acquires the equivalent circuit parameters of the electromagnetic transient network, the calculation of two step lengths is continuously carried out until T5The time of day. From T5And starting at the moment, and restoring the interface time sequence of the two computing processes to be the basic exchange time sequence until the next network topology change or the simulation is finished.
The embodiment of the invention provides the equivalent circuit and interface data exchange time sequence suitable for calling the direct current sub-module by the electromechanical transient state whole network, is suitable for various conditions such as active and passive networks based on the basic circuit theory, realizes the parallel calculation of the electromechanical transient state whole network and the direct current sub-module under the steady state condition, ensures the simulation calculation speed when calling the sub-module, and does not reduce the simulation calculation precision.
Fig. 8 is a schematic structural diagram of an online simulation system 800 of an LCC direct current transmission electromechanical and electromagnetic hybrid system according to an embodiment of the present invention. As shown in fig. 8, an online simulation system 800 of an LCC direct current transmission electromechanical and electromagnetic hybrid system according to an embodiment of the present invention includes: a simulation model building unit 801, an equivalence processing unit 802, and a hybrid simulation unit 803.
Preferably, the simulation model establishing unit 801 is configured to establish a primary system circuit and a secondary control system model of the dc power transmission system based on an electromagnetic transient simulation program, and encapsulate the primary system circuit and the secondary control system model as a dc sub-module called by electromechanical transient simulation.
Preferably, wherein the electromagnetic transient simulation program is ADPSS-ETSDAC.
Preferably, the equivalence processing unit 802 is configured to perform equivalence processing on the direct-current sub-module by the electromechanical transient whole network and equivalence processing on the electromechanical transient whole network by the direct-current sub-module, respectively.
Preferably, the equivalence processing unit 802 performs equivalence processing on the direct-current sub-module by the electromechanical transient whole network and equivalence processing on the electromechanical transient whole network by the direct-current sub-module, respectively, and includes:
when the internal network calculation of the direct current sub-module is carried out, Thevenin equivalence is carried out on the electromechanical transient state whole network, and a power frequency equivalent impedance array and positive, negative and zero sequence equivalent potentials of boundary points of the electromechanical transient state whole network are obtained to be provided for the direct current sub-module;
when electromechanical transient state whole network calculation is carried out, norton equivalence is carried out on the direct current sub-module, and positive, negative and zero sequence currents and voltages of an equivalent admittance matrix and boundary points of the direct current sub-module are obtained to be provided for the electromechanical transient state whole network.
Preferably, the hybrid simulation unit 803 is configured to implement data exchange between the electromechanical transient state full network and the dc sub-module through an equivalent circuit, and the electromechanical transient state full network and the dc sub-module are mutually invoked according to a preset invocation time sequence to perform electromechanical-electromagnetic transient hybrid simulation.
Preferably, the hybrid simulation unit realizes data exchange between the electromechanical transient state full network and the dc sub-module through an equivalent circuit, and the electromechanical transient state full network and the dc sub-module are mutually called according to a preset calling time sequence to perform electromechanical-electromagnetic transient state hybrid simulation, including:
the Thevenin equivalent impedance and potential acquisition subunit is used for enabling the electromechanical transient whole network to acquire Thevenin equivalent impedance and equivalent potential of a boundary point and transmitting the Thevenin equivalent impedance and equivalent potential to the direct current submodule;
an electromagnetic transient simulation calculation subunit, which is used for enabling the direct current submodule to carry out the current period [ T ] by utilizing the acquired Thevenin equivalent impedance and equivalent potential of the boundary pointi,Ti+1]Calculating an electromagnetic transient simulation step length;
a fundamental wave effective value acquisition subunit of the voltage and the current for calculating to the current period Ti,Ti+1]End time T ofi+1Then, the DC sub-module completes the step length measurement of electromagnetic transient simulationUsing the current period [ T ]i,Ti+1]Calculating fundamental wave effective values of the voltage and the current of the boundary point according to the calculation result of the cycle, and sending the fundamental wave effective values of the voltage and the current of the boundary point to an electromechanical transient state whole network for simulation calculation; meanwhile, the wearing-dimensional equivalent impedance and the equivalent potential of the electromechanical transient whole network are obtained again in the simulation calculation process of the electromechanical transient whole network;
an electromechanical transient simulation subunit, which is used for leading the electromechanical transient whole network to utilize the acquired fundamental effective values of the boundary point voltage and the current to carry out the current period [ T ]i,Ti+1]Calculating an electromechanical transient simulation step length; meanwhile, the direct current sub-module calculates the electromagnetic transient simulation step length of the next period according to the acquired Thevenin equivalent impedance and equivalent potential of the boundary point of the electromechanical transient whole network;
the judging subunit is used for judging whether the topological structure of the system changes or not, and if so, ending the simulation; otherwise, use Ti＝Ti+ △ T, updating the simulation period and entering the fundamental wave effective value acquisition subunit of the voltage and the current, wherein △ T is the simulation step size.
Preferably, the hybrid simulation unit further includes: a fault handling subunit for calculating the network at T when the electromagnetic transient is presentnWhen a fault occurs at any moment, the calculation after the fault is not started in the electromagnetic transient calculation process of the direct current sub-module or the electromechanical transient whole-network calculation process, the interface information is sent to the electromagnetic transient calculation process of the direct current sub-module in the electromechanical transient whole-network calculation process as usual, and after the information is obtained in the electromagnetic transient calculation process of the direct current sub-module, the calculation of a cycle is carried out until Tn+2At the moment, a cycle time period [ T ] is calculatedn,Tn+2]The voltage and current fundamental wave effective values of the boundary points are sent to an electromechanical transient calculation process, and after the electromechanical transient acquires equivalent circuit parameters of the electromagnetic transient network, the calculation of two step lengths is continuously carried out until Tn+1Time of day, from Tn+1And starting at the moment, and restoring the interface time sequence of the two computing processes to be the basic exchange time sequence until the next network topology change or the simulation is finished.
The online simulation system 800 of the LCC direct-current power transmission electromechanical and electromagnetic hybrid system according to the embodiment of the present invention corresponds to the online simulation method 100 of the LCC direct-current power transmission electromechanical and electromagnetic hybrid system according to another embodiment of the present invention, and details thereof are not repeated herein.
The invention has been described with reference to a few embodiments. However, other embodiments of the invention than the one disclosed above are equally possible within the scope of the invention, as would be apparent to a person skilled in the art from the appended patent claims.
Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/the [ device, component, etc ]" are to be interpreted openly as referring to at least one instance of said device, component, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. An online simulation method of an LCC direct current transmission electromechanical electromagnetic hybrid system, the method comprising:
building a primary system circuit and a secondary control system model of the direct current power transmission system based on an electromagnetic transient simulation program, and packaging the primary system circuit and the secondary control system model into a direct current sub-module called by electromechanical transient simulation;
respectively carrying out equivalence processing on the direct current sub-modules by the electromechanical transient whole network and equivalence processing on the electromechanical transient whole network by the direct current sub-modules;
and data exchange between the electromechanical transient state whole network and the direct current sub-module is realized through the equivalent circuit, and the electromechanical transient state whole network and the direct current sub-module are mutually called according to a preset calling time sequence to carry out electromechanical-electromagnetic transient state hybrid simulation.
2. The method of claim 1, wherein the performing equivalence processing on the electromechanical transient whole-network direct-current sub-modules and equivalence processing on the electromechanical transient whole-network direct-current sub-modules respectively comprises:
when the internal network calculation of the direct current sub-module is carried out, Thevenin equivalence is carried out on the electromechanical transient state whole network, and a power frequency equivalent impedance array and positive, negative and zero sequence equivalent potentials of boundary points of the electromechanical transient state whole network are obtained to be provided for the direct current sub-module;
when electromechanical transient state whole network calculation is carried out, norton equivalence is carried out on the direct current sub-module, and positive, negative and zero sequence currents and voltages of an equivalent admittance matrix and boundary points of the direct current sub-module are obtained to be provided for the electromechanical transient state whole network.
3. The method of claim 1, wherein the data exchange between the electromechanical transient full network and the dc sub-module is realized through an equivalent circuit, and the electromechanical transient full network and the dc sub-module are mutually called according to a preset calling sequence to perform electromechanical-electromagnetic transient hybrid simulation, including:
step 1, acquiring Thevenin equivalent impedance and equivalent potential of a boundary point by an electromechanical transient whole network, and transmitting the Thevenin equivalent impedance and the equivalent potential to a direct current submodule;
step 2, the direct current sub-module utilizes the acquired Thevenin equivalent impedance and equivalent potential of the boundary point to carry out the current period [ T ]i,Ti+1]Calculating an electromagnetic transient simulation step length;
step 3, calculating the current period [ T ]i,Ti+1]End time T ofi+1Then, the DC sub-module completes the calculation of an electromagnetic transient simulation step length by using the current period Ti,Ti+1]Calculating the fundamental wave effective values of the boundary point voltage and the boundary point current from the calculation result of one cycle of the voltage and the current, and making the fundamental waves of the boundary point voltage and the boundary point current effectiveSending the value to an electromechanical transient state whole network for simulation calculation; meanwhile, the wearing-dimensional equivalent impedance and the equivalent potential of the electromechanical transient whole network are obtained again in the simulation calculation process of the electromechanical transient whole network;
step 4, the electromechanical transient state whole network utilizes the obtained fundamental wave effective values of the voltage and the current of the boundary points to carry out the current period Ti,Ti+1]Calculating an electromechanical transient simulation step length; meanwhile, the direct current sub-module calculates the electromagnetic transient simulation step length of the next period according to the acquired Thevenin equivalent impedance and equivalent potential of the boundary point of the electromechanical transient whole network;
step 5, judging whether the topological structure of the system changes or not, if so, ending the simulation; otherwise, use Ti＝Ti+ △ T, updating the simulation period and returning to the step 3, wherein △ T is the simulation step size.
4. The method of claim 3, further comprising:
when the electromagnetic transient computing network is at TnWhen a fault occurs at any moment, the calculation after the fault is not started in the electromagnetic transient calculation process of the direct current sub-module or the electromechanical transient whole-network calculation process, the interface information is sent to the electromagnetic transient calculation process of the direct current sub-module in the electromechanical transient whole-network calculation process as usual, and after the information is obtained in the electromagnetic transient calculation process of the direct current sub-module, the calculation of a cycle is carried out until Tn+2At the moment, a cycle time period [ T ] is calculatedn,Tn+2]The voltage and current fundamental wave effective values of the boundary points are sent to an electromechanical transient calculation process, and after the electromechanical transient acquires equivalent circuit parameters of the electromagnetic transient network, the calculation of two step lengths is continuously carried out until Tn+1Time of day, from Tn+1And starting at the moment, and restoring the interface time sequence of the two computing processes to be the basic exchange time sequence until the next network topology change or the simulation is finished.
5. The method of claim 1, wherein the electromagnetic transient simulation program is ADPSS-ETSDAC.
6. An on-line simulation system for an LCC direct current transmission electromechanical electromagnetic hybrid system, the system comprising:
the simulation model establishing unit is used for establishing a primary system circuit and a secondary control system model of the direct current power transmission system based on an electromagnetic transient simulation program and packaging the primary system circuit and the secondary control system model into a direct current sub-module called by electromechanical transient simulation;
the equivalence processing unit is used for respectively carrying out equivalence processing on the direct current sub-modules by the electromechanical transient whole network and equivalence processing on the electromechanical transient whole network by the direct current sub-modules;
and the hybrid simulation unit is used for realizing data exchange between the electromechanical transient whole network and the direct current sub-module through the equivalent circuit, and the electromechanical transient whole network and the direct current sub-module are mutually called according to a preset calling time sequence to carry out electromechanical-electromagnetic transient hybrid simulation.
7. The system of claim 6, wherein the equivalence processing unit performs equivalence processing on the electromechanical transient whole network by the direct current sub-module and equivalence processing on the electromechanical transient whole network by the direct current sub-module, respectively, and includes:
when the internal network calculation of the direct current sub-module is carried out, Thevenin equivalence is carried out on the electromechanical transient state whole network, and a power frequency equivalent impedance array and positive, negative and zero sequence equivalent potentials of boundary points of the electromechanical transient state whole network are obtained to be provided for the direct current sub-module;
when electromechanical transient state whole network calculation is carried out, norton equivalence is carried out on the direct current sub-module, and positive, negative and zero sequence currents and voltages of an equivalent admittance matrix and boundary points of the direct current sub-module are obtained to be provided for the electromechanical transient state whole network.
8. The system of claim 6, wherein the hybrid simulation unit implements data exchange between the electromechanical transient full network and the dc sub-module through an equivalent circuit, and the electromechanical transient full network and the dc sub-module are mutually called according to a preset calling sequence to perform electromechanical-electromagnetic transient hybrid simulation, including:
the Thevenin equivalent impedance and potential acquisition subunit is used for enabling the electromechanical transient whole network to acquire Thevenin equivalent impedance and equivalent potential of a boundary point and transmitting the Thevenin equivalent impedance and equivalent potential to the direct current submodule;
an electromagnetic transient simulation calculation subunit, which is used for enabling the direct current submodule to carry out the current period [ T ] by utilizing the acquired Thevenin equivalent impedance and equivalent potential of the boundary pointi,Ti+1]Calculating an electromagnetic transient simulation step length;
a fundamental wave effective value acquisition subunit of the voltage and the current for calculating to the current period Ti,Ti+1]End time T ofi+1Then, the DC sub-module completes the calculation of an electromagnetic transient simulation step length by using the current period Ti,Ti+1]Calculating fundamental wave effective values of the voltage and the current of the boundary point according to the calculation result of the cycle, and sending the fundamental wave effective values of the voltage and the current of the boundary point to an electromechanical transient state whole network for simulation calculation; meanwhile, the wearing-dimensional equivalent impedance and the equivalent potential of the electromechanical transient whole network are obtained again in the simulation calculation process of the electromechanical transient whole network;
an electromechanical transient simulation subunit, which is used for leading the electromechanical transient whole network to utilize the acquired fundamental effective values of the boundary point voltage and the current to carry out the current period [ T ]i,Ti+1]Calculating an electromechanical transient simulation step length; meanwhile, the direct current sub-module calculates the electromagnetic transient simulation step length of the next period according to the acquired Thevenin equivalent impedance and equivalent potential of the boundary point of the electromechanical transient whole network;
the judging subunit is used for judging whether the topological structure of the system changes or not, and if so, ending the simulation; otherwise, use Ti＝Ti+ △ T, updating the simulation period and entering the fundamental wave effective value acquisition subunit of the voltage and the current, wherein △ T is the simulation step size.
9. The system of claim 8, wherein the hybrid simulation unit further comprises:
a fault handling subunit for calculating the network at T when the electromagnetic transient is presentnWhen a fault happens all the time, the direct current sub-module is in electromagnetic pauseThe calculation after the fault is not started in the state calculation process or the electromechanical transient state whole network calculation process, the electromechanical transient state whole network calculation process sends interface information into the electromagnetic transient state calculation process of the direct current sub-module as usual, and after the electromagnetic transient state calculation process of the direct current sub-module acquires the information, the calculation of a cycle is carried out until Tn+2At the moment, a cycle time period [ T ] is calculatedn,Tn+2]The voltage and current fundamental wave effective values of the boundary points are sent to an electromechanical transient calculation process, and after the electromechanical transient acquires equivalent circuit parameters of the electromagnetic transient network, the calculation of two step lengths is continuously carried out until Tn+1Time of day, from Tn+1And starting at the moment, and restoring the interface time sequence of the two computing processes to be the basic exchange time sequence until the next network topology change or the simulation is finished.
10. The system of claim 6, wherein the electromagnetic transient simulation program is ADPSS-ETSDAC.
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