基于混合逻辑动态模型的电力牵引传动系统硬件在环仿真
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摘要
为涵盖牵引变流器所有可能开关状态以及进一步减小硬件在环(hardware-in-the-loop,HIL)仿真步长,该文提出一种基于混合逻辑动态(mixed logical dynamic,MLD)模型的电力牵引传动系统HIL仿真,并于现场可编程门阵列(field-programmable gate array,FPGA)上实现。结合开关器件驱动信号,推导不同电流、电压条件下的开关函数逻辑表达式,依此建立二重化单相脉宽调制(pulse width modulation,PWM)整流器和三相PWM逆变器的MLD模型。合理分配系统各模块计算顺序,使系统计算步长约束在500ns内。HIL仿真与Simulink仿真对比,结果验证了HIL仿真的正确性和有效性。相较于基于通用处理器的HIL仿真,MLD模型和FPGA的结合进一步减小了仿真步长,能及时反应开关动作。
For accurate modeling of an electric traction drive system considering the traction converter's all possible switching states and smaller simulation step size, a hardware-in-the-loop(HIL) simulation approach based on mixed logical dynamic(MLD) model was proposed and implemented on a field programmable gate array(FPGA). The MLD models of the interlaced single-phase PWM(pulse-width modulation) rectifiers and the three-phase PWM inverter in the electric traction drive system were built based on the switching functions, which are the logical expressions under the current and voltage conditions. The simulation step size was limited in 500 ns by assigning appropriately the computation sequence of the discretized modules. The results of the HIL simulation compared with Simulink simulation demonstrate the validity of the proposed HIL simulation method. Compared to modeling on a general processor, modeling on a FPGA with MLD model further reduces the simulation step size and reacts fast to the switching signals.
For accurate modeling of an electric traction drive system considering the traction converter's all possible switching states and smaller simulation step size, a hardware-in-the-loop(HIL) simulation approach based on mixed logical dynamic(MLD) model was proposed and implemented on a field programmable gate array(FPGA). The MLD models of the interlaced single-phase PWM(pulse-width modulation) rectifiers and the three-phase PWM inverter in the electric traction drive system were built based on the switching functions, which are the logical expressions under the current and voltage conditions. The simulation step size was limited in 500 ns by assigning appropriately the computation sequence of the discretized modules. The results of the HIL simulation compared with Simulink simulation demonstrate the validity of the proposed HIL simulation method. Compared to modeling on a general processor, modeling on a FPGA with MLD model further reduces the simulation step size and reacts fast to the switching signals.
引文
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[15]Habbi H M,黄苏融,高瑾,等.基于交叉耦合效应的车用内置式永磁电机转子位置估计[J].中国电机工程学报,2012,32(15):124-133.Habbi H M,Huang Surong,Gao Jin,et al.Robust sensorless rotor position estimation of IPM in EV cooperation with cross saturation effects[J].Proceedings of the CSEE,2012,32(15):124-133(in Chinese).
[16]Herrera L,Li Cong,Yao Xiu,et al.FPGA-based detailed real-time simulation of power converters and electric machines for EV HIL applications[J].IEEE Transactions on Industry Applications,2015,51(2):1702-1712.
[17]Hasanzadeh A,Edrington C S,Stroupe N,et al.Real-time emulation of a high-speed microturbine permanentmagnet synchronous generator using multiplatform hardware-in-the-loop realization[J].IEEE Transactions on Industrial Electronics,2014,61(6):3109-3118.
[18]Saad H,Ould-Bachir T,Mahseredjian J,et al.Real-time simulation of MMCs using CPU and FPGA[J].IEEE Transactions on Power Electronics,2015,30(1):259-267.
[19]Shen Zhuoxuan,Dinavahi V.Real-time device-level transient electrothermal model for modular multilevel converter on FPGA[J].IEEE Transactions on Power Electronics,2016,31(9):6155-6168.
[20]王成山,丁承第,李鹏,等.基于FPGA的光伏发电系统暂态实时仿真[J].电力系统自动化,2015,39(12):13-20.Wang Chengshan,Ding Chengdi,Li Peng,et al.FPGA-based real-time transient simulation of photovoltaic generation system[J].Automation of Electric Power Systems,2015,39(12):13-20(in Chinese).
[21]王成山,丁承第,李鹏,等.基于FPGA的配电网暂态实时仿真研究(一):功能模块实现[J].中国电机工程学报,2014,34(1):161-167.Wang Chengshan,Ding Chengdi,Li Peng,et al.Real-time transient simulation for distribution systems based on FPGA,part I:module realization[J].Proceedings of the CSEE,2014,34(1):161-167(in Chinese).
[22]王成山,丁承第,李鹏,等.基于FPGA的配电网暂态实时仿真研究(二):系统架构与算例验证[J].中国电机工程学报,2014,34(4):628-634.Wang Chengshan,Ding Chengdi,Li Peng,et al.Real-time transient simulation for distribution systems based on FPGA,part II:system architecture and algorithm verification[J].Proceedings of the CSEE,2014,34(4):628-634(in Chinese).
[23]Tavana N R,Dinavahi V.A general framework for FPGA-based real-time emulation of electrical machines for HIL applications[J].IEEE Transactions on Industrial Electronics,2015,62(4):2041-2053.
[24]Tavana N R,Dinavahi V.Real-time FPGA-based analytical space harmonic model of permanent magnet machines for hardware-in-the-loop simulation[J].IEEE Transactions on Magnetics,2015,51(8):8106609.
[2]Vasiladiotis M,Rufer A.Dynamic analysis and state feedback voltage control of single-phase active rectifiers with DC-link resonant filters[J].IEEE Transactions on Power Electronics,2014,29(10):5620-5633.
[3]He Liqun,Xiong Jian,Ouyang Hui,et al.Highperformance indirect current control scheme for railway traction four-quadrant converters[J].IEEE Transactions on Industrial Electronics,2014,61(12):6645-6654.
[4]崔恒斌,冯晓云,林轩,等.牵引网与交直交列车耦合系统谐波谐振特性仿真研究[J].中国电机工程学报,2014,34(16):2736-2745.Cui Hengbin,Feng Xiaoyun,Lin Xuan,et al.Simulation study of the harmonic resonance characteristics of the coupling system with a traction network and AC-DC-AC trains[J].Proceedings of the CSEE,2014,34(16):2736-2745(in Chinese).
[5]丁荣军,桂卫华,陈高华.电力机车交流传动系统的半实物实时仿真[J].中国铁道科学,2008,29(4):96-102.Ding Rongjun,Gui Weihua,Chen Gaohua.HIL real-time simulation of electric locomotive AC drive system[J].China Railway Science,2008,29(4):96-102(in Chinese).
[6]Myaing A,Faruque M O,Dinavahi V,et al.Comparison of insulated gate bipolar transistor models for FPGAbased real-time simulation of electric drives and application guideline[J].IET Power Electronics,2012,5(3):293-303.
[7]Wang Wentao,Shen Zhuoxuan,Dinavahi V.Physicsbased device-level power electronic circuit hardware emulation on FPGA[J].IEEE Transactions on Industrial Informatics,2014,10(4):2166-2179.
[8]Yang Xin,Otsuki M,Palmer P R.Physics-based insulated-gate bipolar transistor model with input capacitance correction[J].IET Power Electronics,2015,8(3):417-427.
[9]崔恒斌,马志文,韩坤,等.电动车组牵引传动系统的实时仿真研究[J].中国铁道科学,2011,32(6):94-101.Cui Hengbin,Ma Zhiwen,Han Kun,et al.Research on the real-time simulation of the traction drive system in electric multiple units[J].China Railway Science,2011,32(6):94-101(in Chinese).
[10]郭希铮,游小杰,徐从谦,等.大功率电力牵引控制系统硬件在回路实时仿真[J].电工技术学报,2012,27(4):65-70.Guo Xizheng,You Xiaojie,Xu Congqian,et al.Simulation of hardware in loop for high-power electrical traction system[J].Transactions of China Electrotechnical Society,2012,27(4):65-70(in Chinese).
[11]葛兴来,冯晓云,韩坤,等.三电平牵引变流器无拍频控制的硬件在回路实时仿真[J].电工技术学报,2014,29(8):204-210.Ge Xinglai,Feng Xiaoyun,Han Kun,et al.Hardwarein-the-loop application of beat-less control scheme for three-level traction inverter system[J].Transactions of China Electrotechnical Society,2014,29(8):204-210(in Chinese).
[12]李宁,李颖晖,朱喜华,等.混杂系统理论及其在三相逆变电路开路故障诊断中的应用[J].电工技术学报,2014,29(6):114-119.Li Ning,Li Yinghui,Zhu Xihua,et al.Fault diagnosis for power electronic circuits based on mixed logic dynamic model and incident identification vector[J].Transactions of China Electrotechnical Society,2014,29(6):114-119(in Chinese).
[13]An Quntao,Sun Li,Sun Lizhi.Current residual vector-based open-switch fault diagnosis of inverters in PMSM drive systems[J].IEEE Transactions on Power Electronics,2015,30(5):2814-2827.
[14]Gou Bin,Ge Xinglai,Wang Shunliang,et al.An open-switch fault diagnosis method for single-phase PWM rectifier using a model-based approach in high-speed railway electrical traction drive system[J].IEEE Transactions on Power Electronics,2016,31(5):3816-3826.
[15]Habbi H M,黄苏融,高瑾,等.基于交叉耦合效应的车用内置式永磁电机转子位置估计[J].中国电机工程学报,2012,32(15):124-133.Habbi H M,Huang Surong,Gao Jin,et al.Robust sensorless rotor position estimation of IPM in EV cooperation with cross saturation effects[J].Proceedings of the CSEE,2012,32(15):124-133(in Chinese).
[16]Herrera L,Li Cong,Yao Xiu,et al.FPGA-based detailed real-time simulation of power converters and electric machines for EV HIL applications[J].IEEE Transactions on Industry Applications,2015,51(2):1702-1712.
[17]Hasanzadeh A,Edrington C S,Stroupe N,et al.Real-time emulation of a high-speed microturbine permanentmagnet synchronous generator using multiplatform hardware-in-the-loop realization[J].IEEE Transactions on Industrial Electronics,2014,61(6):3109-3118.
[18]Saad H,Ould-Bachir T,Mahseredjian J,et al.Real-time simulation of MMCs using CPU and FPGA[J].IEEE Transactions on Power Electronics,2015,30(1):259-267.
[19]Shen Zhuoxuan,Dinavahi V.Real-time device-level transient electrothermal model for modular multilevel converter on FPGA[J].IEEE Transactions on Power Electronics,2016,31(9):6155-6168.
[20]王成山,丁承第,李鹏,等.基于FPGA的光伏发电系统暂态实时仿真[J].电力系统自动化,2015,39(12):13-20.Wang Chengshan,Ding Chengdi,Li Peng,et al.FPGA-based real-time transient simulation of photovoltaic generation system[J].Automation of Electric Power Systems,2015,39(12):13-20(in Chinese).
[21]王成山,丁承第,李鹏,等.基于FPGA的配电网暂态实时仿真研究(一):功能模块实现[J].中国电机工程学报,2014,34(1):161-167.Wang Chengshan,Ding Chengdi,Li Peng,et al.Real-time transient simulation for distribution systems based on FPGA,part I:module realization[J].Proceedings of the CSEE,2014,34(1):161-167(in Chinese).
[22]王成山,丁承第,李鹏,等.基于FPGA的配电网暂态实时仿真研究(二):系统架构与算例验证[J].中国电机工程学报,2014,34(4):628-634.Wang Chengshan,Ding Chengdi,Li Peng,et al.Real-time transient simulation for distribution systems based on FPGA,part II:system architecture and algorithm verification[J].Proceedings of the CSEE,2014,34(4):628-634(in Chinese).
[23]Tavana N R,Dinavahi V.A general framework for FPGA-based real-time emulation of electrical machines for HIL applications[J].IEEE Transactions on Industrial Electronics,2015,62(4):2041-2053.
[24]Tavana N R,Dinavahi V.Real-time FPGA-based analytical space harmonic model of permanent magnet machines for hardware-in-the-loop simulation[J].IEEE Transactions on Magnetics,2015,51(8):8106609.