CN112329235B - Power electronic system real-time simulation method based on hybrid modeling - Google Patents
Power electronic system real-time simulation method based on hybrid modeling Download PDFInfo
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Abstract
The invention relates to a real-time simulation method of a power electronic system based on hybrid modeling, which comprises the following steps: dividing a power electronic switch in a power electronic system into a low-speed switch and a high-speed switch, and respectively modeling by adopting LC (inductance capacitance) and large and small resistors; generating all coefficient matrixes needed by simulation in advance before the simulation starts; and in the simulation, a coefficient matrix is selected according to the high-speed switch state, and a corresponding current source is selected according to the low-speed switch state. The invention reduces the number of coefficient matrixes which need to be generated in advance during real-time simulation through LC modeling, and simultaneously, the large and small resistance modeling of the high-speed switch avoids the problem of inaccurate result caused by overlarge loss of the LC modeling switch. Compared with the prior art, the method provided by the invention combines the advantages and applicable occasions of different modeling methods, improves the accuracy of power electronic real-time simulation, and reduces the realization difficulty of real-time simulation.
Description
Technical Field
The invention relates to the technical field of real-time simulation of power electronic systems, in particular to a power electronic system real-time simulation method based on hybrid modeling.
Background
The power electronic device can flexibly control and convert electric energy and is key equipment in new energy, electric automobiles and modern power grids. The power electronic controller is the core and key components of the power electronic device; in a traditional development and test mode, a controller of a power electronic system is directly tested on a physical system, but even if the controller is tested on a low-power miniature physical system, the traditional development and test mode has the challenges of high experimental cost, high danger (especially similar short-circuit fault condition tests), difficulty in realizing test automation and the like.
The real-time simulator is a device for simulating the actual system behavior on a real-time hardware platform by using a mathematical model, and can test and verify the control equipment in a very similar real condition by testing the controller through the real-time simulator. The method has the advantages of safety, easy realization of repeated tests and the like.
Real-time simulation of power electronic systems is not easy to implement, and the main challenge is that the required simulation step size is small. The power semiconductor device (also called power electronic switch) in the power electronic system can rapidly switch on and off states under the control of PWM pulses, and the simulation step required by accurately simulating the system is generally 1/50 or 1/100 of the PWM period; in order to improve the quality of electric energy, the volume of magnetic elements (inductors, transformers and the like) is reduced; the switching frequency of modern high-power electronic systems is generally in the magnitude of 5-10kHz, and especially with the emergence of new generation power semiconductor devices such as silicon carbide, the switching frequency of the power electronic systems is expanded to high frequency. The switching frequency range of dozens of kHz requires the step length of power electronic real-time simulation to be 1us or less; this is equivalent to 1 second, which is a very large calculation amount, and 100 ten thousand times are calculated.
Another real-time simulation challenge of the power electronic system is that with the on and off of the power device, the topology of the system is continuously changed, and if the power device is modeled by a large resistor and a small resistor as in the conventional off-line simulation, namely the off state is modeled by a large resistor, and the on state is modeled by a small resistor; different switch state combinations correspond to different topologies and different mathematical models (different coefficient matrixes), when a new topology is met, a corresponding admittance array needs to be regenerated, and inversion operation of the admittance array is carried out to obtain the mathematical model (the coefficient matrix) needed by corresponding simulation; for real-time simulation, the step length of about 1 μ s is determined that complex operations such as admittance array generation and admittance array inversion cannot be completed; if the mode of generating all coefficient matrixes in advance is adopted, the problem of dimension disaster of the power of 2n can be quickly encountered; meanwhile, the number of models which can be stored in the real-time simulation hardware FPGA is also limited by hardware resources.
In order to deal with such real-time simulation challenges, two methods are adopted in the industry at present, namely, an LC modeling method is adopted to model a power electronic switch; namely, the device is modeled as a small inductor when being turned on, and is modeled as a small capacitor when being turned off. When the whole circuit system is modeled by adopting a node voltage method, rs = L/dt = dt/C (or Gs = dt/L = C/dt) can be ensured by properly selecting the numerical values of the inductor and the capacitor, namely when the switch switches on and off states, the corresponding resistance (conductance) is the same, and only the calculation methods of the injection current source are different; the benefit of such a modeling approach is that it does not affect the admittance matrix of the system at all times, regardless of how the switch states in the system switch; the problems of switching and updating a system mathematical model (admittance array) required by modeling of large and small resistors are avoided, and the modeling mode of the LC is very suitable for real-time simulation of a power electronic system; the method is the mainstream method for the real-time simulation of the power electronics at present; secondly, an FPGA (Field Programmable Gate Array) is adopted on the computing hardware, and the high-performance real-time operation within a short time period of 1 mu s is realized by utilizing the hardware parallelism of the FPGA.
However, LC modeling also has its limitations, because the inductor and capacitor are energy storage elements, when the power electronic switch state is frequently switched, the LC needs to be charged back and forth, resulting in spurious excessive energy loss caused by simulation; this problem becomes more severe as the switching frequency becomes higher. LC modeling has its limitations in dealing with high switching frequencies.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the real-time simulation method of the power electronic system based on the hybrid modeling, which has high accuracy and low difficulty.
The purpose of the invention can be realized by the following technical scheme:
a real-time simulation method of a power electronic system based on hybrid modeling comprises the following steps:
step 1: dividing power electronic switches in a power electronic system into a low-speed switch and a high-speed switch;
step 2: the low-speed switch is modeled by LC, and the high-speed switch is modeled by large and small resistors;
and step 3: selecting all coefficient matrixes required by pre-generated simulation according to circuit topology and switch modeling;
and 4, step 4: selecting a coefficient matrix according to the high-speed switch state in the simulation, and selecting an updating method of a corresponding injection current source according to the low-speed switch state;
and 5: and finishing the real-time simulation of the power electronic system.
Preferably, the switch classification method in step 1 is that the low-speed switch includes a thyristor, a switch in which a power frequency cycle such as a diode is turned on and off once, and an IGBT switch with a PWM frequency not exceeding 15 kHz; high-speed switching refers to IGBT-like switches with PWM frequencies above 15 kHz.
Preferably, the LC modeling method of the low-speed switch in step 2 specifically includes:
the low-speed switch selection LC modeling method is characterized in that a resistor with a fixed resistance value is injected into a current source in parallel, the current source is updated in an inductive mode when the current source is switched on, the current source is updated in a capacitive mode when the current source is switched off, and generally the value selected by the resistor corresponding to the low-speed switch is about 1 ohm.
Preferably, the modeling of the high-speed switch in step 2 is specifically:
the switch is modeled by a resistance with variable resistance value, and the corresponding resistance value is large when the switch is switched off and small when the switch is switched on; the value of the off resistance is typically selected to be on the order of 10 kilohms; the on-resistance is selected to have a resistance value on the order of 1 milliohm.
More preferably, the low-speed switch simulation model specifically includes:
and the low-speed switch state determines the updating calculation method of the corresponding current source, the current source is updated in an inductive mode in the on state, and the current source is updated in a capacitive mode in the off state.
More preferably, the method for updating the calculation of the low-speed switch in the on state in the inductive manner specifically includes:
I in (t)＝I s (t-Δt)
wherein, I in Is to inject current source current; i is s Is the current of the corresponding switch.
More preferably, the method for updating and calculating the low-speed switch in the off state in the capacitance mode specifically includes:
I in (t)＝-V s (t-Δt)/R s
wherein, I in For injecting a current of a current source, I s And V s Current and voltage of the corresponding switch respectively; r s Is the value of the resistance in the low-speed switching model.
Preferably, the step 3 specifically comprises:
pre-generating all coefficient matrixes needed by simulation: deducing all switch states of the high-speed switch in simulation according to the circuit topology; for each high-speed switch state combination, determining the resistance value in the circuit according to the switch state and the resistance value selection in the step 2, and obtaining the corresponding admittance array and the inverse matrix of the circuit by using an improved node voltage method; to obtain a coefficient matrix library required for simulation.
Preferably, the step 4 specifically includes:
selecting a corresponding coefficient matrix from a coefficient matrix library according to the state of the high-speed switch, and determining a calculation mode of injecting a current source into the low-speed switch simulation model according to the state of the low-speed switch; the simulation of this step is performed using the above information.
More preferably, the method for determining the state of the power electronic switch comprises:
the simulator determines whether the power electronic switch is in an on state or an off state according to an externally input PWM command and an internal power electronic system state.
Compared with the prior art, the invention has the following advantages:
the accuracy is high, the simulation realization difficulty is low: the invention makes full use of the respective advantages of LC modeling and large and small resistance modeling, reduces the number of coefficient matrixes which need to be generated in advance before simulation for the low-speed switch through LC modeling, avoids overhigh switching loss which is inconsistent with the reality and is caused by LC modeling for the high-speed switch through large and small resistance modeling, improves the accuracy of real-time simulation of power electronics, and reduces the realization difficulty of real-time simulation.
Drawings
FIG. 1 is a schematic flow chart of a real-time simulation method of a power electronic system according to the present invention;
FIG. 2 is a schematic diagram of an active filter system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of modeling a low speed switch according to an embodiment of the present invention;
FIG. 4 is a waveform diagram of a simulation result of modeling the magnitude resistance of the active filter system according to the embodiment of the present invention;
FIG. 5 is a comparison graph of simulation results of LC modeling and large resistance modeling of an active filter system according to an embodiment of the present invention;
fig. 6 is a diagram comparing results of the switch hybrid modeling simulation and the large and small resistance modeling simulation of the active filter system according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
The invention mainly solves the problem that the real-time simulation of a power electronic system with high switching frequency is difficult to deal with by a classical LC modeling method; a hybrid modeling mode combining LC modeling and large and small resistance modeling is provided to solve the problem of real-time simulation of a power electronic system of a high switching frequency system.
A real-time simulation method of a power electronic system based on hybrid modeling is disclosed, a flow chart of which is shown in figure 1, and comprises the following steps:
step 1: dividing power electronic switches in a power electronic system into a low-speed switch and a high-speed switch;
step 2: the low-speed switch is modeled by LC, and the high-speed switch is modeled by large and small resistors;
and step 3: selecting all coefficient matrixes required by pre-generated simulation according to circuit topology and switch modeling;
and 4, step 4: selecting a coefficient matrix according to the high-speed switch state in the simulation, and selecting an updating method of a corresponding injection current source according to the low-speed switch state;
and 5: and finishing the real-time simulation of the power electronic system.
The low-speed switch in the step 1 comprises a thyristor, a switch which is a diode and is used for switching on and off once by power frequency cycle, and an IGBT switch with PWM frequency not more than 15 kHz; high-speed switching refers to IGBT-like switches with PWM frequencies above 15 kHz.
The medium-low speed switch simulation model in the step 2 specifically comprises the following steps:
the low-speed switch comprises a resistor with a fixed resistance value and an injection current source connected with the resistor in parallel, wherein the low-speed switch is switched on and then calculated in an inductance mode, and the switch-off mode is calculated in a capacitance mode; the switching times of the low-speed switch are few, the influence of the loss generated by LC modeling on a simulation result is small, and LC modeling can be selected, namely: the low-speed switch is modeled in a mode of a resistor with a fixed resistance value and an injection current source connected with the resistor in parallel, so that when the low-speed switch is switched between a turn-off state and a turn-on state, the value of the resistor corresponding to the switch is unchanged, a mathematical model does not need to be switched, only a calculation mode of the injection current source needs to be switched, the calculation mode is calculated in an inductance mode when the low-speed switch is switched on, and the calculation mode is calculated in a capacitance mode when the low-speed switch is switched off. The advantage that the number of mathematical models (coefficient matrixes) required by simulation can be reduced by fully utilizing LC modeling.
In the step 2, the simulation model of the high-speed switch is specifically as follows:
the switch is modeled by a resistance with variable resistance value, and the corresponding resistance value is large when the switch is switched off and small when the switch is switched on; the turn-off resistance value is typically selected to be on the order of 10 kilohms; the on-resistance is selected to have a resistance value on the order of 1 milliohm.
And step 3: all coefficient matrices required for simulation are generated in advance: deducing all switch states of the high-speed switch in simulation according to the circuit topology; for each high-speed switch state combination, determining the resistance value in the circuit according to the switch state and the resistance value selection in the step 2, and obtaining the corresponding admittance array and the inverse matrix of the circuit by using an improved node voltage method; to obtain a coefficient matrix library required by simulation;
and 4, step 4: in the simulation, the simulator determines the state of a power electronic switch according to an externally input PWM command and the state of an internal power electronic system; selecting a corresponding coefficient matrix from a coefficient matrix library according to the state of the high-speed switch, and determining the updating mode of a corresponding injection current source according to the state of the low-speed switch; the simulation of this step is performed using the above information.
Fig. 2 shows an active filter system, which is a typical power electronic system, and the system is composed of three parts, namely a power grid, a rectifying load and an IGBT fully controlled converter bridge connected with the load in parallel. The current of the diode Rectifier bridge (Rectifier) is trapezoidal wave, the contained harmonic component is high, the electric energy quality is poor, the active filter system generates compensation current by controlling the IGBT full-control Converter bridge (Converter) to offset the high-order component in the load current, so as to improve the current waveform of the power grid, reduce the harmonic interference to the power grid and improve the electric energy quality. In this example, the controller applies a PWM pulse frequency of 20kHz to the IGBT inverter bridge.
For the active filter system described above, the rectifier bridge and the full control bridge each have 6 switches, for a total of 12 switches, and if all are modeled with large and small resistors, all possible switch state combinations are considered, for a total of 2 12 =4096 combinations, a common FPGA hardware is a mathematical model that cannot store so much; it is not feasible to model all switches directly with large and small resistors for real-time simulation of the system.
According to the method disclosed in this embodiment, the simulation is implemented as follows.
The first step is as follows: the power electronic switches in the system are classified, and one power frequency cycle switch is used for one time for diodes in a rectifier bridge in an active filter, and belongs to a low-speed switch; the IGBT in the converter bridge is controlled by PWM pulse of 20kHz and belongs to high-speed switch.
The second step is that: for a slow switch, namely a diode in a rectifier bridge, an LC modeling mode is adopted, namely a resistor with a fixed resistance value is injected into a current source in parallel, the current source is updated in an inductance mode when being switched on, and the current source is updated in a capacitance mode when being switched off, and the method specifically comprises the following steps:
an inductance mode: i is in (t)＝I s (t-Δt)
Capacitive type: i is in (t)＝-V s (t-Δt)/R s
In the formula I in For injecting a current of a current source, I s And V s Current and voltage of the corresponding switch respectively; r s The value of the resistance in the low-speed switch model is shown; the modeling is described in detail in fig. 3.
The value of the resistance in the corresponding switch model of the diode in this example is chosen to be 1 ohm.
For a high-speed switch, namely an IGBT in a converter bridge, a large resistor and a small resistor are used for modeling; namely, the switch is modeled by a resistance with variable resistance value, and the value of the selected turn-off resistance is 10 ten thousand ohms; the value of the on-resistance is selected to be 1 milliohm.
The third step: all coefficient matrices required for simulation are generated in advance. The condition that the upper pipe and the lower pipe of the fully-controlled converter bridge are simultaneously conducted is not considered in simulation (modern power electronic controllers generally have dead zone control to avoid the condition); thus, for the converter bridge, three possible conduction conditions exist for each bridge arm, and the upper tube is conducted, the lower tube is conducted and the upper tube and the lower tube are all turned off. A total of 3 x 3=27 possible topologies for the entire converter bridge. I.e. the whole hybrid modeled active filter system corresponds to 27 possible coefficient matrices.
For each high-speed switch state combination, modeling a switched-off high-speed switch by using 10 kilohms, and modeling a switched-on high-speed switch by using a 1 milliohm resistor; modeling a low-speed switch by using a 1-ohm resistor parallel current source, and obtaining an admittance array and an inverse matrix corresponding to the circuit by using an improved node voltage method; to obtain a coefficient matrix library required for simulation.
The fourth step: starting simulation, wherein in each step of simulation, a simulator determines whether a power electronic switch is in an on state or an off state according to a PWM pulse instruction sent by an external controller and the state of an internal power electronic system; the simulator selects a corresponding system coefficient matrix according to the switching state of the IGBT of the converter bridge, determines a calculation method of a corresponding injection current source according to the switching state of the diode of the rectifier bridge, and performs simulation of the step by using the selected coefficient matrix and the numerical information of the current source obtained by calculation.
The fifth step: ending power electronic system simulation
Fig. 4 to 6 show simulation results of the grid phase a current of the active filter system under different modeling methods, and at 0.1 second, the controller starts to issue a PWM pulse command; the controller controls the IGBT converter through PWM pulses to control the direct current capacitor voltage to a set value, and then controls the IGBT converter through the PWM pulses to achieve the function of simultaneously controlling the capacitor voltage and current filtering when 0.18 second is needed.
FIG. 4 is a simulation result of Simulink software, which is a mature simulation software mainly used for off-line simulation work on a PC, and switches in the Simulink are modeled according to large and small resistors; from the waveform diagram, it can be seen that after the controller enables filtering at 0.18 seconds, the waveform of the grid current becomes sinusoidal due to the compensation current of the converter, and the harmonic component is reduced; the inverter has the effect of active filtering.
Fig. 5 is a comparison of simulation results for all switches using LC modeling and Simulink. From the results of fig. 4, it can be seen that the diode rectified current before 0.1s is very similar in magnitude and shape to the diode modeled by the magnitude resistance in fig. 3, except for some small oscillations in the switching and off state switching; the feasibility of modeling the low-speed switch in an LC modeling mode is proved; however, after the converter bridge starts to work in the PWM state for 0.1s, due to the fact that the LC modeling is charged back and forth under the high-speed PWM, the too large switching loss is caused, so that the amplitude of the grid current obtained by the LC method is increased (the grid needs to provide extra switching loss energy), the grid current can be seen, the current amplitude of the LC modeling method is about 10% larger than that of the Simulink simulation result, the current amplitude is too large, and the simulation result is distorted
Fig. 6 is a comparison graph of the simulation result obtained by the hybrid modeling method of the present invention and the simulation result of Simulink, and it can be seen that the current amplitude and waveform of the hybrid modeling simulation result of the present invention are very close to those of the Simulink result of fig. 4, regardless of the diode rectification waveform or the sinusoidal current waveform after enabling the filtering function (after 0.18 seconds), which proves that the large and small resistance modeling method can effectively avoid the problem of excessively high switching loss caused by LC modeling.
In conclusion, the method of the invention adopts LC modeling for the slow switch, which can effectively reduce the number of coefficient matrixes which need to be generated in advance during real-time simulation, and simultaneously adopts large and small resistance modeling for the high-speed switch, thereby effectively avoiding the problem of overhigh switching loss caused by LC modeling; the simulation result is very close to the Simulink modeling result, so the method improves the accuracy of the real-time simulation of the power electronics and reduces the realization difficulty of the real-time simulation.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A real-time simulation method of a power electronic system based on hybrid modeling is characterized by comprising the following steps:
step 1: dividing power electronic switches in a power electronic system into a low-speed switch and a high-speed switch;
step 2: the low-speed switch is modeled by LC, and the high-speed switch is modeled by large and small resistors;
and step 3: selecting all coefficient matrixes required by pre-generated simulation according to circuit topology and switch modeling;
and 4, step 4: selecting a coefficient matrix according to the high-speed switch state in the simulation, and selecting an updating method of a corresponding injection current source according to the low-speed switch state;
and 5: completing the real-time simulation of the power electronic system;
the modeling of the large and small resistances of the high-speed switch in the step 2 is specifically as follows:
the high-speed switch is modeled by a resistance value-variable resistor, and the corresponding resistance value is large when the high-speed switch is switched off and small when the high-speed switch is switched on; the turn-off resistance value is in the order of 10 kilohms; the value of the on-resistance is in the order of 1 milliohm;
the step 3 specifically comprises the following steps:
pre-generating all coefficient matrixes needed by simulation: deducing all switch states of the high-speed switch in simulation according to the circuit topology; for each high-speed switch state combination, determining the resistance value in the circuit according to the switch state and the resistance value selection in the step 2, and obtaining an admittance matrix and an inverse matrix corresponding to the circuit by using an improved node voltage method so as to obtain a coefficient matrix library required by simulation;
the step 4 is specifically as follows:
in the simulation, the simulator selects a corresponding coefficient matrix from a coefficient matrix library according to the state of the high-speed switch, and determines the updating mode of the corresponding injection current source according to the state of the low-speed switch.
2. The real-time simulation method of the power electronic system based on the hybrid modeling according to claim 1, wherein the switch classification method in step 1 is that the low-speed switch is a switch for turning on and off once the power frequency cycle and an IGBT switch with PWM frequency not more than 15 kHz; high speed switching refers to IGBT-like switches with PWM frequencies above 15 kHz.
3. The hybrid modeling based power electronic system real-time simulation method according to claim 1, wherein the LC modeling method of the low-speed switch in the step 2 is specifically as follows:
the low-speed switch selection LC modeling method is characterized in that a resistor with a fixed resistance value is injected into a current source in parallel, the current source is updated in an inductive mode when the current source is switched on, and the current source is updated in a capacitive mode when the current source is switched off.
4. The method according to claim 1, wherein the method for determining the state of the power electronic switch comprises:
the simulator determines whether the power electronic switch is in an on state or an off state according to an externally input PWM command and an internal power electronic system state.
5. The real-time simulation method of the power electronic system based on the hybrid modeling as claimed in claim 4, wherein the low-speed switch state in the power electronic system state determines an update calculation method of a current source corresponding to the low-speed switch, and the current source is updated in an inductive manner in an on state and in a capacitive manner in an off state.
6. The hybrid modeling-based power electronic system real-time simulation method according to claim 5, wherein the method for updating the calculation of the low-speed switch in an inductive manner in the on state specifically comprises the following steps:
I in (t)＝I s (t-Δt)
wherein, I in Injecting a current source current; i is s Is the current of the corresponding switch.
7. The hybrid modeling-based power electronic system real-time simulation method according to claim 5, wherein the method for updating the calculation of the low-speed switch in a capacitance mode in the off state specifically comprises the following steps:
I in (t)＝-V s (t-Δt)/R s
wherein, I in For injecting a current of a current source, V s Is the voltage of the corresponding switch; r is s Is the value of the resistance in the low-speed switching model.
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