基于FPGA的电磁瞬态仿真器研究
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摘要
为了提高配电网故障电磁瞬态特性的实时仿真效率,避免复杂的现场可编程门阵列(field-programmable gatearray,FPGA)编程,本文研究了一种基于FPGA的自动实时电磁瞬态仿真器。首先通过综合改进的增广节点分析(modified augmented nodal analysis, MANA)方法和固定的导纳矩阵节点方法(fixed admittance matrix nodal method,FAMNM)构建了求解器;然后基于开关电导参数的最优选择,建立了高效的稀疏矩阵-向量乘法器;最后通过对三相配电网络中的单相接地故障后电磁瞬态特性进行测试,验证了仿真器的性能。实验结果表明:MANA-FAMNM的特殊结构可以实现极低的积分时间步长,并且避免了仿真器重新设计FPGA代码,该应用程序可直接用于不同的拓扑结构;仿真器能够实时精确地再现配电网故障中发生的电磁瞬态特性以及在传输线中传播的电磁波;,FPGA-RTS仿真与软件EMTP-RV离线仿真的C相相电压值的最大误差约为0.006pu,完全满足工程应用的要求。该仿真器可以推广到工业实时嵌入系统中。
In order to improve the real-time simulation efficiency of electromagnetic transient characteristics of distribution network faults, and avoid complex field-programmable gate array(FPGA) programming, an automatic real-time electromagnetic transient simulator based on FPGA was studied. First, the comprehensive modified augmented nodal analysis(MANA) method and the fixed admittance matrix nodal method(FAMNM) were used to build up a solver. Then an efficient sparse matrix-vector multiplier was established based on the optimal selection of the switching conductance parameters. Finally, the electromagnetic transient characteristics of the single-phase-to-ground fault were tested in the three-phase distribution network to verify the performance of the simulator. The results show that the special structure of MANA-FAMNM can achieve extremely low integration time step and avoid redesigning the FPGA code, and the applications program can be used directly in different topologies. The simulator can realize accurate reproduction of the electromagnetic transient characteristics occurring in the distribution network fault and the electromagnetic waves propagating in the transmission line in real time. The maximum error between the phase-phase voltage of the FPGA-RTS simulation and the software EMTP-RV off-line simulation is about 0.006 pu which fully meet the requirements of engineering applications. The simulator can be extended to industrial real-time embedded systems.
In order to improve the real-time simulation efficiency of electromagnetic transient characteristics of distribution network faults, and avoid complex field-programmable gate array(FPGA) programming, an automatic real-time electromagnetic transient simulator based on FPGA was studied. First, the comprehensive modified augmented nodal analysis(MANA) method and the fixed admittance matrix nodal method(FAMNM) were used to build up a solver. Then an efficient sparse matrix-vector multiplier was established based on the optimal selection of the switching conductance parameters. Finally, the electromagnetic transient characteristics of the single-phase-to-ground fault were tested in the three-phase distribution network to verify the performance of the simulator. The results show that the special structure of MANA-FAMNM can achieve extremely low integration time step and avoid redesigning the FPGA code, and the applications program can be used directly in different topologies. The simulator can realize accurate reproduction of the electromagnetic transient characteristics occurring in the distribution network fault and the electromagnetic waves propagating in the transmission line in real time. The maximum error between the phase-phase voltage of the FPGA-RTS simulation and the software EMTP-RV off-line simulation is about 0.006 pu which fully meet the requirements of engineering applications. The simulator can be extended to industrial real-time embedded systems.
引文
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[9]何冰松,李松,周治国,等.模块化多电平换流器实时仿真的快速实现方法[J].高电压技术,2018,44(7):2165-2172.HE Bingsong,LI Song,ZHOU Zhiguo,et al.Fast implementation method of real-time simulation of modular multilevel converter[J].High Voltage Engineering,2018,44(7):2165-2172.
[10]许中,尹晨旭,刘邦,等.功率硬件在环仿真稳定性分析及功率接口研究[J].电力自动化设备,2016,36(11):165-170.XU Zhong,YIN Chenxu,LIU Bang,et al.Analysis of PHIL simulation stability and implementation of power interface[J].Electric Power Automation Equipment,2016,36(11):165-170.
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[12]尹晨旭,刘邦,熊璇,等.基于并网逆变器混合实时仿真系统的PWM脉冲宽度误差分析与建模[J].电力自动化设备,2016,36(2):83-89.YIN Chenxu,LIU Bang,XIONG Xuan,et al.Analysis of PWM pulse width error and modeling of grid-connected inverter in HIL simulation system[J].Electric Power Automation Equipment,2016,36(2):83-89.
[13]MAHSEREDJIAN J.Computation of power system transients:overview and challenges[C]∥2007 IEEE Power Engineering Society General Meeting.Tampa,USA:IEEE,2007.
[14]DOMMEL H.Digital computer solution of electromagnetic transients in single-and multiphase networks[J].IEEE Transactions on Power Apparatus and Systems,1969,88(4):388-399.
[15]MARTI J R.Accurate modelling of frequency-dependent transmission lines in electromagnetic transient simulations[J].IEEE Transactions on Power Apparatus and Systems,1982,PAS-101(1):147-157.
[16]PEJOVIC P,MAKSIMOVIC D.Method for fast time-domain simulation of networks with switches[J].IEEE Transactions on Power Electronics,1994,9(4):449-456.
[17]RAZZAGHI R,FOTI C,PAOLONE M,et al.A method for the assessment of the optimal parameter of discrete-time switch model[J].Electric Power Systems Research.2014,115(4):80-86.
[18]MU Q,LIANG J,ZHOU X,et al.Improved ADC model of voltage-s source converters in DC grids[J].IEEE Transactions on Power Electronics,2014,29(11):5738-5748.
[19]刘志恒,段雄英,廖敏夫,等.非线性负荷下高准确度数据处理技术[J].高电压技术,2017,43(9):2958-2966.LIU Zhiheng,DUAN Xiongying,LIAO Minfu,et al.High accuracy data processing technology with non-linear loads[J].High Voltage Engineering,2017,43(9):2958-2966.
[2]RAZZAGHI R,COLAS F,GUILLAUD X,et al.Hardware-in-the-loop validation of an FPGA-based real-time simulator for power electronics applications[C]∥International Conference on Power Systems Transients(IPST),Cavtat,Croatia,2015:15-18.
[3]刘志文,林智莘,周治国,等.电压源换流器实时多速率仿真研究[J].高电压技术,2015,41(7):2362-2369.LIU Zhiwen,LIN Zhixin,ZHOU Zhiguo,et al.Real-time multi-rate simulation of voltage source converter[J].High Voltage Engineering,2015,41(7):2362-2369.
[4]林雪华,郭琦,郭海平,等.基于FPGA的柔性直流实时仿真技术及试验系统[J].电力系统自动化,2017,41(12):33-39.LIN Xuehua,GUO Qi,GUO Haiping,et al.FPGA based real-time simulation technology and test system of flexible DC[J].Automation of Electric Power System,2017,41(12):33-39.
[5]王潇,张炳达,陈铭.基于RTDS和FPGA联合仿真平台的多速率实时仿真方法[J].电力系统自动化,2016,40(12):144-150.WANG Xiao,ZHANG Bingda and CHEN Ming.Multi-rate real-time simulation method based on RTDS and FPGA co-simulation platform[J].Automation of Electric Power System,2016,40(12):144-150.
[6]范哲意,张明新,周治国,等.电压源换流器闭环控制的实时联合仿真[J].高电压技术,2016,42(10):3328-3335.FAN Zheyi,ZHANG Mingxin,ZHOU Zhiguo,et al.Real-time co-simulation for voltage source converter closed-loop control[J].High Voltage Engineering,2016,42(10):3328-3335.
[7]王宇,刘崇茹,李庚银.基于FPGA的模块化多电平换流器实时仿真建模与硬件在环实验[J].中国电机工程学报,2018,38(13):3912-3401.WANG Yu,LIU Chongru and LI Gengyin.FPGA-based real-time modeling of modular multilevel converters and hardware-in-the-loop simulation[J].Proceedings of the CSEE,2018,38(13):3912-3401.
[8]李鹏,曾凡鹏,王智颖,等.基于FPGA的有源配电网实时仿真器I/O接口设计[J].中国电机工程学报,2017,37(12):3409-3417.LI Peng,ZENG Fanpeng,WANG Zhiying,et al.I/O interface design for FPGA based real-time simulator of active distribution networks[J].Proceedings of the CSEE,2017,37(12):3409-3417.
[9]何冰松,李松,周治国,等.模块化多电平换流器实时仿真的快速实现方法[J].高电压技术,2018,44(7):2165-2172.HE Bingsong,LI Song,ZHOU Zhiguo,et al.Fast implementation method of real-time simulation of modular multilevel converter[J].High Voltage Engineering,2018,44(7):2165-2172.
[10]许中,尹晨旭,刘邦,等.功率硬件在环仿真稳定性分析及功率接口研究[J].电力自动化设备,2016,36(11):165-170.XU Zhong,YIN Chenxu,LIU Bang,et al.Analysis of PHIL simulation stability and implementation of power interface[J].Electric Power Automation Equipment,2016,36(11):165-170.
[11]尹晨旭,孙建军,刘邦,等.控制器硬件在环混合仿真系统延时及补偿方法[J].电力自动化设备,2016,36(9):151-155.YIN Chenxu,SUN Jianjun,LIU Bang,et al.Time-delay and compensation for CHIL simulation system[J].Electric Power Automation Equipment,2016,36(9):151-155.
[12]尹晨旭,刘邦,熊璇,等.基于并网逆变器混合实时仿真系统的PWM脉冲宽度误差分析与建模[J].电力自动化设备,2016,36(2):83-89.YIN Chenxu,LIU Bang,XIONG Xuan,et al.Analysis of PWM pulse width error and modeling of grid-connected inverter in HIL simulation system[J].Electric Power Automation Equipment,2016,36(2):83-89.
[13]MAHSEREDJIAN J.Computation of power system transients:overview and challenges[C]∥2007 IEEE Power Engineering Society General Meeting.Tampa,USA:IEEE,2007.
[14]DOMMEL H.Digital computer solution of electromagnetic transients in single-and multiphase networks[J].IEEE Transactions on Power Apparatus and Systems,1969,88(4):388-399.
[15]MARTI J R.Accurate modelling of frequency-dependent transmission lines in electromagnetic transient simulations[J].IEEE Transactions on Power Apparatus and Systems,1982,PAS-101(1):147-157.
[16]PEJOVIC P,MAKSIMOVIC D.Method for fast time-domain simulation of networks with switches[J].IEEE Transactions on Power Electronics,1994,9(4):449-456.
[17]RAZZAGHI R,FOTI C,PAOLONE M,et al.A method for the assessment of the optimal parameter of discrete-time switch model[J].Electric Power Systems Research.2014,115(4):80-86.
[18]MU Q,LIANG J,ZHOU X,et al.Improved ADC model of voltage-s source converters in DC grids[J].IEEE Transactions on Power Electronics,2014,29(11):5738-5748.
[19]刘志恒,段雄英,廖敏夫,等.非线性负荷下高准确度数据处理技术[J].高电压技术,2017,43(9):2958-2966.LIU Zhiheng,DUAN Xiongying,LIAO Minfu,et al.High accuracy data processing technology with non-linear loads[J].High Voltage Engineering,2017,43(9):2958-2966.
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