A method, system and device for electromagnetic transient modeling of high-efficiency synchronous machine

Abstract

The embodiment of the present invention relates to an electromagnetic transient modeling method, system and device for a high-efficiency synchronous machine. The method predicts a first rotor angular velocity, a first rotor angle, a first current q component and a first current d component of an armature current of the synchronous machine, establishes a first Norton circuit simulating the synchronous machine, and simultaneously solves a second Norton circuit after equivalent value and a network conductance matrix to obtain a three-phase voltage at a synchronous machine port; a second current q component, a second current d component, a second rotor angular velocity and a second rotor angle are obtained according to the three-phase voltage, and an error control iterative solution is used to determine an electromagnetic transient simulation calculation result of the synchronous machine, which not only avoids the occurrence of historical quantities and current quantities of the synchronous machine's rotating potential, but also improves the accuracy of the simulation calculation result. The calculation result can maintain the calculation efficiency of the dq0 model on the basis of achieving the accuracy of the phase domain model, and can be suitable for electromagnetic transient simulation of power systems for actual engineering calculations.

Description

Technical Field

[0001] The present invention relates to the field of electromagnetic transient technology, and in particular to an electromagnetic transient modeling method, system and equipment for a high-efficiency synchronous machine. Background Art

[0002] With the rapid promotion and application of new energy, DC transmission, especially flexible DC transmission, large power grid electromagnetic transient simulation has become a new trend. How to significantly improve the simulation efficiency of electromagnetic transient models and algorithms while ensuring simulation accuracy is a topic that experts and scholars have been committed to studying.

[0003] As an important electrical component in electromagnetic transient simulation, efficient modeling and simulation of rotating motors is crucial to the accuracy and efficiency of electromagnetic transient simulation of the entire power system, especially the large-scale access of new energy to the power system. In order to ensure the simulation efficiency, the rotating motor model in the existing electromagnetic transient simulation software mostly adopts the dq0 model. Since the dq0 model adopts the prediction and correction method of electrical quantities, there is a cumulative error. If a larger simulation step size is used, it is easy to cause accuracy problems. Summary of the invention

[0004] The embodiments of the present invention provide an electromagnetic transient modeling method, system and device for a high-efficiency synchronous machine, which are used to solve the technical problems that the rotating motor model in the existing electromagnetic transient simulation software adopts the dq0 model, has cumulative errors, and has a large simulation step size, resulting in low simulation accuracy.

[0005] In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:

[0006] A method for electromagnetic transient modeling of a high-efficiency synchronous machine comprises the following steps:

[0007] S1. Use linear extrapolation to predict the first rotor angular velocity, the first rotor angle, the first current q component and the first current d component of the synchronous machine at a certain moment;

[0008] S2. Determine a first Norton circuit of a simulated synchronous machine according to the first current q component and the first current d component; convert the first Norton circuit from dq0 quantity to abc phase quantity by coordinate transformation;

[0009] S3. Inverting the equivalent resistance matrix in the second Norton circuit to obtain an equivalent conductance matrix, and inputting the equivalent conductance matrix into the network conductance matrix for solution to obtain the three-phase voltage of the synchronous machine port;

[0010] S4. Determine the second current q component, the second current d component and the rotor current of the synchronous machine armature current according to the three-phase voltage, and determine the stator flux d component and the stator flux q component of the synchronous machine;

[0011] S5. The second rotor angular velocity and the second rotor angle of the synchronous machine are obtained by solving the second current q component, the second current d component, the stator flux d component and the stator flux q component in the mechanical system equation;

[0012] S6. Calculate the second current q component, the second current d component, the second rotor angular velocity, and the second rotor angle respectively with the corresponding first current q component, the first current d component, the first rotor angular velocity, and the first rotor angle to obtain corresponding absolute values ​​of errors; if all absolute values ​​of errors are less than the allowable error value, return to step S1.

[0013] Preferably, the electromagnetic transient modeling method of the high-efficiency synchronous machine includes: if any one of the absolute values ​​of the error is not less than the allowable error value, returning to step S4.

[0014] Preferably, the mechanical system equation is:

[0015]

[0016]

[0017]

[0018] Where p is the number of poles of the synchronous machine, λ q is the stator flux q component, λ d is the stator flux d component, is the second current d component, is the second current q component, J is the moment of inertia of the synchronous machine, D is the viscosity and air friction damping coefficient of the synchronous machine, T is the mechanical torque of the synchronous machine, ω is the second rotor angular velocity, θ is the second rotor angle, and t is the simulation time.

[0019] Preferably, determining a first Norton circuit of the simulated synchronous machine according to the first current q component and the first current d component; and converting the first Norton circuit from a dq0 quantity to a second Norton circuit of an abc phase quantity by coordinate transformation comprises:

[0020] Obtaining the stator and rotor voltage equations of the synchronous machine, and performing discretization processing using an implicit trapezoidal integration method according to the stator and rotor voltage equations to obtain a first transformation equation;

[0021] Performing Park transformation on the first transformation equation, eliminating rotor variables, and using average resistance processing on the dq axis to obtain the Thevenin equation on the stator side;

[0022] The Thévenin equation on the stator side is converted into a first Norton circuit simulating a synchronous machine by mathematical transformation;

[0023] The first Norton circuit is converted from a dq0 quantity to a second Norton circuit of abc phase using a phase coordinate transformation formula;

[0024] Wherein, the first Norton circuit is:

[0025]

[0026]

[0027] The phase coordinate transformation formula is:

[0028]

[0029] In the formula, is the first current d component, is the first current q component, R d , R q , R 0 are the resistance parameters of the resistance matrix in the Thevenin equation on the stator side, e d 、e q 、e 0 are the voltage parameters of the voltage source matrix in the Thevenin equation on the stator side, i d，source is the first current d value of the first Norton circuit, i q，source is the second current q value of the first Norton circuit, i 0，source is the third current 0 value of the first Norton circuit, θ 1 is the first rotor angle, i a，source is the first current of the a-phase current source of the second Norton circuit, i b，source is the second current of the second Norton circuit b-phase current source, i c，source is the third current of the second Norton circuit c-phase current source.

[0030] Preferably, determining the second current q component, the second current d component and the rotor current of the armature current of the synchronous machine according to the three-phase voltage, and determining the stator flux d component and the stator flux q component of the synchronous machine comprises:

[0031] The three-phase voltage is converted by Park transformation to obtain a dq0-axis voltage component corresponding to the three-phase voltage;

[0032] According to the matrix parameters of the Thevenin equation on the stator side and the dq0-axis voltage component, the second current q component and the second current d component of the armature current of the synchronous machine are calculated by the armature current calculation formula;

[0033] Based on the parameter data of the synchronous machine, the dq0-axis voltage component, the second current q component and the second current d component, the rotor current of the synchronous machine is calculated by a rotor current calculation formula;

[0034] Based on the parameter data of the synchronous machine, the second current q component, the second current d component and the rotor current, the stator flux d component and the stator flux q component of the synchronous machine are calculated by a stator flux dq component calculation formula;

[0035] Wherein, the Parker transform is:

[0036]

[0037] The armature current calculation formula is:

[0038]

[0039]

[0040] The rotor current calculation formula is:

[0041]

[0042] i r =[i f i D i g i Q ] T

[0043]

[0044]

[0045]

[0046]

[0047]

[0048] The calculation formula of the stator flux dq component is:

[0049]

[0050]

[0051] In the formula, is the second current d component, is the second current q component, R d , R q , R 0 are the resistance parameters of the resistance matrix in the Thevenin equation on the stator side, e d 、e q 、e 0 are the voltage parameters of the voltage source matrix in the Thevenin equation on the stator side, θ1 is the first rotor angle, v a is the phase a voltage of the three-phase voltage, v b is the b-phase voltage of the three-phase voltage, v c is the c-phase voltage of the three-phase voltage, v d is the first voltage d component of the dq0 axis voltage component, v q is the second voltage q component of the dq0 axis voltage component, v 0 is the third voltage 0 component of the dq0 axis voltage component, λ d is the stator flux d component, λ q is the stator flux q component. The parameter data of the synchronous machine include the direct-axis armature winding self-inductance L of the synchronous machine. d , the mutual inductance M between the direct-axis armature winding and the excitation winding df , direct axis armature winding and direct axis damping winding D mutual inductance M dD , quadrature-axis armature winding self-inductance L q , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding g qg , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding Q qQ , excitation current i f , direct-axis damping winding D current i D , quadrature-axis damping winding g current i g and the quadrature-axis damping winding Q current i Q ,i r is the rotor current matrix, is the stator self-inductance dq0 matrix of the synchronous machine, R s is the stator resistance matrix of the synchronous machine, k is 2 / Δt, is the stator-rotor mutual inductance dq0 matrix of the synchronous machine, and are the stator current, stator voltage and stator flux phase domain matrices of the previous time step respectively.

[0052] Preferably, inverting the equivalent resistance matrix in the second Norton circuit to obtain an equivalent conductance matrix, and inputting the equivalent conductance matrix into the network conductance matrix for solving to obtain the three-phase voltage of the synchronous machine port comprises: inverting the equivalent resistance in the second Norton circuit to obtain the equivalent conductance matrix, and inputting the equivalent conductance matrix into the network conductance matrix before the time step cycle and solving it through the network solution equation to obtain the three-phase voltage of the synchronous machine port; wherein the network solution equation is YV=I, Y is the network conductance matrix, I is the current matrix composed of currents in the second Norton circuit, and V is the voltage matrix composed of the solved three-phase voltages of the synchronous machine port.

[0053] The present application also provides an electromagnetic transient modeling system for a high-efficiency synchronous machine, comprising: a prediction data module, a first processing module, a first calculation and solution module, a second processing module, a second calculation and solution module, and a judgment module;

[0054] The prediction data module is used to predict the first rotor angular velocity, the first rotor angle, the first current q component and the first current d component of the armature current of the synchronous machine at a certain moment by using a linear extrapolation method;

[0055] The first processing module is used to determine a first Norton circuit of the simulated synchronous machine according to the first current q component and the first current d component; convert the first Norton circuit from a dq0 quantity to a second Norton circuit of an abc phase quantity through coordinate transformation;

[0056] The first calculation and solution module is used to invert the equivalent resistance matrix in the second Norton circuit to obtain an equivalent conductance matrix, and input the equivalent conductance matrix into the network conductance matrix for solution to obtain the three-phase voltage of the synchronous machine port;

[0057] The second processing module is used to determine the second current q component, the second current d component and the rotor current of the synchronous machine armature current according to the three-phase voltage, and determine the stator flux d component and the stator flux q component of the synchronous machine;

[0058] The second calculation and solution module is used to obtain a second rotor angular velocity and a second rotor angle of the synchronous machine by solving the second current q component, the second current d component, the stator flux d component and the stator flux q component in a mechanical system equation;

[0059] The judgment module is used to calculate the second current q component, the second current d component, the second rotor angular velocity, and the second rotor angle with the corresponding first current q component, the first current d component, the first rotor angular velocity, and the first rotor angle, respectively, to obtain corresponding absolute values ​​of errors; if all absolute values ​​of errors are less than the allowable error value, the second rotor angular velocity and the second rotor angle of the synchronous machine are output.

[0060] Preferably, the mechanical system equation is:

[0061]

[0062]

[0063]

[0064] Where p is the number of poles of the synchronous machine, λ q is the stator flux q component, λ d is the stator flux d component, is the second current d component, is the second current q component, J is the moment of inertia of the synchronous machine, D is the viscosity and air friction damping coefficient of the synchronous machine, T is the mechanical torque of the synchronous machine, ω is the second rotor angular velocity, θ is the second rotor angle, and t is the simulation time.

[0065] Preferably, the second processing module includes a conversion submodule, a first calculation submodule, a second calculation submodule and a third calculation submodule;

[0066] The conversion submodule is used to convert the three-phase voltage using Park transformation to obtain a dq0-axis voltage component corresponding to the three-phase voltage;

[0067] The first calculation submodule is used to calculate the second current q component and the second current d component of the synchronous machine armature current through the armature current calculation formula according to the matrix parameters of the Thevenin equation on the stator side and the dq0 axis voltage component;

[0068] The second calculation submodule is used to calculate the rotor current of the synchronous machine through a rotor current calculation formula based on the parameter data of the synchronous machine, the dq0-axis voltage component, the second current q component and the second current d component;

[0069] The third calculation submodule is used to calculate the stator flux d component and the stator flux q component of the synchronous machine through a stator flux dq component calculation formula based on the parameter data of the synchronous machine, the second current q component, the second current d component and the rotor current;

[0070] Wherein, the Parker transform is:

[0071]

[0072] The armature current calculation formula is:

[0073]

[0074]

[0075] The rotor current calculation formula is:

[0076]

[0077] i r =[i f i D i g i Q ] T

[0078]

[0079]

[0080]

[0081]

[0082]

[0083] The calculation formula of the stator flux dq component is:

[0084]

[0085]

[0086] In the formula, is the second current d component, is the second current q component, R d , R q , R 0 are the resistance parameters of the resistance matrix in the Thevenin equation on the stator side, e d 、e q 、e 0 are the voltage parameters of the voltage source matrix in the Thevenin equation on the stator side, θ 1 is the first rotor angle, v a is the phase a voltage of the three-phase voltage, v b is the b-phase voltage of the three-phase voltage, v c is the c-phase voltage of the three-phase voltage, v d is the first voltage d component of the dq0 axis voltage component, v q is the second voltage q component of the dq0 axis voltage component, v 0 is the third voltage 0 component of the dq0 axis voltage component, λ d is the stator flux d component, λ q is the stator flux q component. The parameter data of the synchronous machine include the direct-axis armature winding self-inductance L of the synchronous machine. d , the mutual inductance M between the direct-axis armature winding and the excitation winding df , direct axis armature winding and direct axis damping winding D mutual inductance M dD , quadrature-axis armature winding self-inductance L q , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding g qg , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding Q qQ , excitation current i f , direct-axis damping winding D current i D , quadrature-axis damping winding g current i g and the quadrature-axis damping winding Q current i Q ,i r is the rotor current matrix, is the stator self-inductance dq0 matrix of the synchronous machine, R s is the stator resistance matrix of the synchronous machine, k is 2 / Δt, is the stator-rotor mutual inductance dq0 matrix of the synchronous machine, and are the stator current, stator voltage and stator flux phase domain matrices of the previous time step respectively.

[0087] The present application also provides a terminal device, including a processor and a memory;

[0088] The memory is used to store program codes and transmit the program codes to the processor;

[0089] The processor is used to execute the electromagnetic transient modeling method of the high-efficiency synchronous machine according to the instructions in the program code

[0090] It can be seen from the above technical scheme that the embodiments of the present invention have the following advantages: the electromagnetic transient modeling method, system and device of the high-efficiency synchronous machine provided by the embodiments of the present application, the method comprises the following steps: S1. using the linear extrapolation method to predict the first rotor angular velocity, the first rotor angle, the first current q component and the first current d component of the armature current of the synchronous machine at a certain moment; S2. determining the first Norton circuit of the simulated synchronous machine according to the first current q component and the first current d component; converting the first Norton circuit from the dq0 quantity to the second Norton circuit of the abc phasor through coordinate transformation; S3. inverting the equivalent resistance matrix in the second Norton circuit to obtain the equivalent conductance matrix, and inputting the equivalent conductance matrix into the network conductance matrix for solution to obtain the synchronous machine. three-phase voltage at the machine port; S4. Determine the second current q component, the second current d component and the rotor current of the synchronous machine armature current according to the three-phase voltage, and determine the stator flux d component and the stator flux q component of the synchronous machine; S5. Obtain the second rotor angular velocity and the second rotor angle of the synchronous machine by solving the second current q component, the second current d component, the stator flux d component and the stator flux q component in the mechanical system equation; S6. Calculate the second current q component, the second current d component, the second rotor angular velocity and the second rotor angle with the corresponding first current q component, the first current d component, the first rotor angular velocity and the first rotor angle respectively to obtain the corresponding absolute values ​​of the errors; if all the absolute values ​​of the errors are less than the allowable error value, return to step S1. The electromagnetic transient modeling method of the high-efficiency synchronous machine predicts the first rotor angular velocity, the first rotor angle, the first current q component and the first current d component of the armature current of the synchronous machine, and establishes the first Norton circuit simulating the synchronous machine. The three-phase voltage of the synchronous machine port is obtained by simultaneously solving the equivalent second Norton circuit and the network conductance matrix; the second current q component, the second current d component, the second rotor angular velocity and the second rotor angle are obtained according to the three-phase voltage, and the electromagnetic transient simulation calculation result of the synchronous machine is determined by error control iterative solution, which not only avoids the occurrence of historical quantities and current quantities of the synchronous machine's rotating potential, but also improves the accuracy of the simulation calculation result. The calculation result can maintain the calculation efficiency of the dq0 model on the basis of achieving the accuracy of the phase domain model, so that the electromagnetic transient modeling method of the high-efficiency synchronous machine has high simulation accuracy and fast calculation efficiency. The electromagnetic transient modeling method of the high-efficiency synchronous machine can be suitable for the development of electromagnetic transient simulation software for power systems used in actual engineering calculations, and solves the technical problem that the rotating motor model in the existing electromagnetic transient simulation software adopts the dq0 model, and there is a cumulative error and a large simulation step size resulting in low simulation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0092] Figure 1 A flowchart of the steps of the electromagnetic transient modeling method of a high-efficiency synchronous machine according to an embodiment of the present application;

[0093] Figure 2 A framework diagram of an electromagnetic transient modeling system for a high-efficiency synchronous machine according to an embodiment of the present application. DETAILED DESCRIPTION

[0094] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0095] The embodiments of the present application provide an electromagnetic transient modeling method, system and device for a high-efficiency synchronous machine, which are used to solve the technical problem that the rotating motor model in the existing electromagnetic transient simulation software adopts the dq0 model, has cumulative errors, and a large simulation step size leads to low simulation accuracy.

[0096] Embodiment 1:

[0097] Figure 1 The flowchart of the method for electromagnetic transient modeling of a high-efficiency synchronous machine described in an embodiment of the present application is shown in FIG. In the embodiment of the present application, a synchronous machine such as a generator is used as an example for explanation.

[0098] like Figure 1 As shown, the embodiment of the present application provides an electromagnetic transient modeling method for a high-efficiency synchronous machine, comprising the following steps:

[0099] S1. Use linear extrapolation method to predict the first rotor angular velocity, the first rotor angle, the first current q component and the first current d component of the armature current of the synchronous machine at a certain moment.

[0100] In the embodiment of the present application, the linear extrapolation method is used to predict the first rotor angular velocity of the synchronous machine at a certain moment: ω 1 (t) = 2ω 1 (t-Δt)-ω 1(t-2Δt), t is the simulation time of the synchronous machine at a certain moment, and Δt is the simulation step size. Then, the first rotor angular velocity is processed by the trapezoidal integration method to obtain the first rotor angle.

[0101] It should be noted that the expression of the trapezoidal integration method is:

[0102]

[0103] In the embodiment of the present application, a linear extrapolation method is used to predict the first current q component and the first current d component of the armature current of the synchronous machine at a certain moment.

[0104] It should be noted that the expression for predicting the first current d component of the synchronous machine armature current at a certain moment by using the linear extrapolation method is: The expression for predicting the first current q component of the synchronous machine armature current at a certain moment by linear extrapolation method is:

[0105] S2. Determine the first Norton circuit of the simulated synchronous machine according to the first current q component and the first current d component; transform the first Norton circuit from the dq0 quantity to the second Norton circuit of the abc phasor by coordinate transformation. It can be understood that the first current q component and the first current d component are processed to obtain the first current d value, the second current q value and the third current 0 value in the first Norton circuit; coordinate transformation is performed on the first current d value, the second current value q and the third current 0 value to obtain the first current, the second current and the third current of the abc phasor in the second Norton circuit.

[0106] It should be noted that the first current q component and the first current d component predicted in step S1 are mainly processed to construct the equivalent first Norton circuit of the synchronous machine, thereby obtaining the first current d value, the second current q value and the third current 0 value of the first Norton circuit when the synchronous machine is in the case of an equivalent resistance parallel current source. Then, the first current d value, the second current q value and the third current 0 value are converted from the dq0 quantity to the first current, the second current and the third current of the abc vector in the second Norton circuit.

[0107] S3. Invert the equivalent resistance matrix in the second Norton circuit to obtain an equivalent conductance matrix, and input the equivalent conductance matrix into the network conductance matrix for solution to obtain the three-phase voltage of the synchronous machine port. It can be understood that the first current, the second current and the third current are input into the network conductance matrix for solution to obtain the three-phase voltage of the synchronous machine port corresponding to the first current, the second current and the third current, and the three-phase voltages are a phase voltage, b phase voltage and c phase voltage respectively.

[0108] It should be noted that the process of inputting the first current, the second current and the third current into the network conductivity matrix for solving includes: before the time step cycle, inverting the equivalent resistance matrix in the second Norton circuit to obtain the equivalent conductance matrix, and then inputting it into the network conductivity matrix and solving it through the network solution equation to obtain the three-phase voltage of the synchronous machine port; wherein the network solution equation is YV=I, Y is the network conductivity matrix; I is the historical current source of the entire network, which includes the current matrix composed of the current in the second Norton circuit; V is the three-phase voltage value of the node to be solved in the entire network, which includes the voltage matrix composed of the three-phase voltage of the synchronous machine port to be solved.

[0109] S4. Determine the second current q component, the second current d component and the rotor current of the armature current of the synchronous machine according to the three-phase voltage, and determine the stator flux d component and the stator flux q component of the synchronous machine. It can be understood that the a-phase voltage, the b-phase voltage and the c-phase voltage are processed to obtain the second current q component, the second current d component and the rotor current of the armature current of the synchronous machine, and determine the stator flux d component and the stator flux q component of the synchronous machine.

[0110] It should be noted that the second current q component, the second current d component and the rotor current of the synchronous machine's armature current are calculated based on the three data of phase a voltage, phase b voltage and phase c voltage through Park transformation, and the stator flux d component and stator flux q component of the synchronous machine are determined.

[0111] S5. The second rotor angular velocity and the second rotor angle of the synchronous machine are obtained by solving the second current q component, the second current d component, the stator flux d component and the stator flux q component in the mechanical system equation.

[0112] It should be noted that the second current q component, the second current d component, the stator flux d component and the stator flux q component data obtained in step S4 are mainly input into the mechanical system equation to calculate the second rotor angular velocity and the second rotor angle of the synchronous machine.

[0113] In the embodiment of the present application, the mechanical system equation is:

[0114]

[0115]

[0116]

[0117] Where p is the number of poles of the synchronous machine, λ q is the stator flux q component, λ d is the stator flux d component, is the second current d component, is the second current q component, J is the moment of inertia of the synchronous machine, D is the viscosity and air friction damping coefficient of the synchronous machine, T is the mechanical torque of the synchronous machine, ω is the second rotor angular velocity, θ is the second rotor angle, and t is the simulation time. Among them, T is the mechanical power P of the synchronous machine 0 The initial angular velocity ω of the synchronous machine s The ratio of T = P 0 / ω s , which is also a known parameter of the synchronous machine.

[0118] S6. Calculate the second current q component, the second current d component, the second rotor angular velocity, and the second rotor angle respectively with the corresponding first current q component, the first current d component, the first rotor angular velocity, and the first rotor angle to obtain the corresponding absolute values ​​of the errors; if all the absolute values ​​of the errors are less than the allowable error value, return to step S1.

[0119] The main step is to perform a difference process on the second current q component, the second current d component, the second rotor angular velocity, and the second rotor angle calculated in steps S4 and S5 respectively with the first current q component, the first current d component, the first rotor angular velocity, and the first rotor angle predicted in step S1 to obtain the corresponding absolute values ​​of the errors, and then determine whether all the absolute values ​​of the errors are less than the allowable error value. If so, return to step S1 to perform the next synchronous machine electromagnetic transient modeling. If not, any one of the absolute values ​​of the errors is not less than the allowable error value, return to step S4, and recalculate the second current q component, the second current d component, the second rotor angular velocity, and the second rotor angle.

[0120] The present application provides an electromagnetic transient modeling method for a high-efficiency synchronous machine, comprising the following steps: S1. predicting the first rotor angular velocity, the first rotor angle, the first current q component and the first current d component of the armature current of the synchronous machine at a certain moment by using a linear extrapolation method; S2. determining a first Norton circuit for simulating the synchronous machine according to the first current q component and the first current d component; converting the first Norton circuit from a dq0 quantity to a second Norton circuit of abc phase quantity by coordinate transformation; S3. inverting the equivalent resistance matrix in the second Norton circuit to obtain an equivalent conductance matrix, and inputting the equivalent conductance matrix into a network conductance matrix for solution to obtain the three-phase voltage at the synchronous machine port; S4. Determine the second current q component, the second current d component and the rotor current of the synchronous machine's armature current, and determine the stator flux d component and the stator flux q component of the synchronous machine; S5. Obtain the second rotor angular velocity and the second rotor angle of the synchronous machine by solving the second current q component, the second current d component, the stator flux d component and the stator flux q component in the mechanical system equation; S6. Calculate the second current q component, the second current d component, the second rotor angular velocity and the second rotor angle with the corresponding first current q component, the first current d component, the first rotor angular velocity and the first rotor angle to obtain the corresponding absolute values ​​of the errors; if all the absolute values ​​of the errors are less than the allowable error values, return to step S1. The electromagnetic transient modeling method of the high-efficiency synchronous machine predicts the first rotor angular velocity, the first rotor angle, the first current q component and the first current d component of the armature current of the synchronous machine, and establishes the first Norton circuit simulating the synchronous machine. The three-phase voltage of the synchronous machine port is obtained by simultaneously solving the equivalent second Norton circuit and the network conductance matrix; the second current q component, the second current d component, the second rotor angular velocity and the second rotor angle are obtained according to the three-phase voltage, and the electromagnetic transient simulation calculation result of the synchronous machine is determined by error control iterative solution, which not only avoids the occurrence of historical quantities and current quantities of the synchronous machine's rotating potential, but also improves the accuracy of the simulation calculation result. The calculation result can maintain the calculation efficiency of the dq0 model on the basis of achieving the accuracy of the phase domain model, so that the electromagnetic transient modeling method of the high-efficiency synchronous machine has high simulation accuracy and fast calculation efficiency. The electromagnetic transient modeling method of the high-efficiency synchronous machine can be suitable for the development of electromagnetic transient simulation software for power systems used in actual engineering calculations, and solves the technical problem that the rotating motor model in the existing electromagnetic transient simulation software adopts the dq0 model, and there is a cumulative error and a large simulation step size resulting in low simulation accuracy.

[0121] In one embodiment of the present application, a first Norton circuit of a simulated synchronous machine is determined according to a first current q component and a first current d component; and a second Norton circuit of an abc phase quantity is converted from a dq0 quantity by coordinate transformation, comprising:

[0122] Obtaining the stator and rotor voltage equations of the synchronous machine, and performing discretization processing using an implicit trapezoidal integration method according to the stator and rotor voltage equations to obtain a first transformation equation;

[0123] The first transformation equation is subjected to Park transformation, rotor variables are eliminated, and the dq axis is processed using average resistance to obtain the Thevenin equation on the stator side;

[0124] The Thevenin equation on the stator side is converted into the first Norton circuit simulating the synchronous machine through mathematical transformation;

[0125] The first Norton circuit is converted from the dq0 quantity to the second Norton circuit of the abc phasor using the phasor coordinate transformation formula. The first current d value, the second current q value and the third current 0 value are determined according to the first Norton circuit. The first current of the a-phase current source, the second current of the b-phase current source and the third current of the c-phase current source are determined according to the second Norton circuit. The Thevenin equation on the stator side is a constant symmetric matrix with a resistance matrix.

[0126] In the embodiment of the present application, the first Norton circuit is:

[0127]

[0128]

[0129] The phase coordinate transformation formula is:

[0130]

[0131] In the formula, is the first current d component, is the first current q component, R d , R q , R 0 are the resistance parameters of the resistance matrix in the Thevenin equation on the stator side, e d 、e q 、e 0 are the voltage parameters of the voltage source matrix in the Thevenin equation on the stator side, i d，source is the first current d value of the first Norton circuit, i q，source is the second current q value of the first Norton circuit, i 0，source is the third current 0 value of the first Norton circuit, θ 1 is the first rotor angle, i a，source is the first current of the a-phase current source of the second Norton circuit, i b，source is the second current of the second Norton circuit b-phase current source, i c，source is the third current of the second Norton circuit c-phase current source.

[0132] In an embodiment of the present application, the stator and rotor voltage equations and the flux equations of the synchronous machine are obtained, and the stator and rotor voltage equations are discretized using the implicit trapezoidal integration method to obtain a first transformation equation; the first transformation equation is subjected to a Park transformation, the rotor variables are eliminated, and the dq axes are processed using average resistance to obtain the Thevenin equation on the stator side.

[0133] It should be noted that the stator and rotor voltage equations are:

[0134]

[0135] The magnetic flux equation is:

[0136]

[0137] The first transformation equation is:

[0138]

[0139]

[0140]

[0141]

[0142] The Thevenin equation on the stator side is:

[0143]

[0144]

[0145]

[0146] In the formula, are the stator voltage, current, and flux phase domain matrices of the synchronous machine phase domain matrix, v r 、i r , r are the rotor voltage, current, and flux matrix of the synchronous machine flux matrix, R s , R r are the stator resistance matrix and rotor resistance of the synchronous machine, L(θ 1 ) is the inductance associated with the first rotor angle in the synchronous machine, L ss , L rr are the stator self-inductance and rotor self-inductance in the self-inductance matrix of the synchronous machine, L sr , L rs are the stator mutual inductance and rotor mutual inductance in the inductance matrix of the synchronous machine, k is 2 / Δt, and the variables with ^ are the values ​​of the variables in the previous time step, that is, the historical quantities, R dq0 、e dq0They are the resistance matrix and the series voltage source matrix in the Thevenin equation on the stator side. middle Directly obtained from the historical quantities of the network solution, and The historical variables of current and flux dq0 are obtained by Park transformation, v r Use the value from the previous moment.

[0147] In an embodiment of the present application, a Park transformation is performed on the first transformation equation to obtain a second transformation equation, and then the rotor variable in the second transformation equation is eliminated to obtain the Thevenin equation on the stator side.

[0148] It should be noted that the second transformation equation is:

[0149]

[0150]

[0151] In the formula, are the stator voltage dq0 matrix and stator current dq0 matrix of the synchronous machine respectively, is the stator self-inductance dq0 matrix of the synchronous machine, They are the stator-rotor mutual inductance dq0 matrix and the rotor mutual inductance dq0 matrix of the synchronous machine respectively.

[0152] In the embodiment of the present application, the above-mentioned Thevenin equation on the stator side is obtained under a dq0 model. In order to avoid generating a time-varying asymmetric 3×3 resistive matrix and improve the calculation accuracy, the average resistance is used in the dq axis to obtain the modified Thevenin equation converted to the stator side. The converted second Norton circuit is:

[0153]

[0154] In one embodiment of the present application, determining the second current q component, the second current d component and the rotor current of the armature current of the synchronous machine according to the three-phase voltage, and determining the stator flux d component and the stator flux q component of the synchronous machine include:

[0155] The three-phase voltage is converted by Park transformation to obtain the dq0 axis voltage component corresponding to the three-phase voltage;

[0156] According to the matrix parameters of the Thevenin equation on the stator side and the dq0 axis voltage component, the second current q component and the second current d component of the armature current of the synchronous machine are calculated by the armature current calculation formula;

[0157] Based on the parameter data of the synchronous machine, the dq0 axis voltage component, the second current q component and the second current d component, the rotor current of the synchronous machine is calculated by a rotor current calculation formula;

[0158] Based on the parameter data of the synchronous machine, the second current q component, the second current d component and the rotor current, the stator flux d component and the stator flux q component of the synchronous machine are calculated by the stator flux dq component calculation formula. Among them, the three-phase voltage includes the a-phase voltage, the b-phase voltage and the c-phase voltage, and the dq0-axis voltage component includes the first voltage d component, the second voltage q component and the third voltage 0 component.

[0159] In the embodiment of the present application, the Parker transformation is:

[0160]

[0161] The armature current calculation formula is:

[0162]

[0163]

[0164] The rotor current calculation formula is:

[0165]

[0166] i r =[i f i D i g i Q ] T

[0167]

[0168]

[0169]

[0170]

[0171]

[0172] The calculation formula for the stator flux dq component is:

[0173]

[0174]

[0175] In the formula, is the second current d component, is the second current q component, R d , R q , R 0 are the resistance parameters of the resistance matrix in the Thevenin equation on the stator side, e d、e q 、e 0 are the voltage parameters of the voltage source matrix in the Thevenin equation on the stator side, θ 1 is the first rotor angle, v a is the phase a voltage of the three-phase voltage, v b is the b-phase voltage of the three-phase voltage, v c is the c-phase voltage of the three-phase voltage, v d is the first voltage d component of the dq0 axis voltage component, v q is the second voltage q component of the dq0 axis voltage component, v 0 is the third voltage 0 component of the dq0 axis voltage component, λ d is the stator flux d component, λ q is the stator flux q component. The parameter data of the synchronous machine include the direct-axis armature winding self-inductance L of the synchronous machine. d , the mutual inductance M between the direct-axis armature winding and the excitation winding df , direct axis armature winding and direct axis damping winding D mutual inductance M dD , quadrature-axis armature winding self-inductance L q , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding g qg , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding Q qQ , excitation current i f , direct-axis damping winding D current i D , quadrature-axis damping winding g current i g and the quadrature-axis damping winding Q current i Q ,i r is the rotor current matrix, is the stator self-inductance dq0 matrix of the synchronous machine, R s is the stator resistance matrix of the synchronous machine, k is 2 / Δt, is the stator-rotor mutual inductance dq0 matrix of the synchronous machine, and are the stator current, stator voltage and stator flux phase domain matrices of the previous time step respectively.

[0176] In the embodiment of the present application, in step S3, an equivalent resistance matrix R is constructed according to the Thevenin equation on the stator side. equiv The electromagnetic transient modeling method of the high-efficiency synchronous machine obtains the equivalent conductance matrix by inverting the equivalent resistance matrix, and inputs the first current, the second current and the third current and the equivalent conductance matrix into the network equation at one time before the simulation time step cycle and solves them through the network solution equation to obtain the a-phase voltage, the b-phase voltage and the c-phase voltage.

[0177] It should be noted that the equivalent resistance matrix is:

[0178]

[0179]

[0180] Embodiment 2:

[0181] Figure 2 A framework diagram of an electromagnetic transient modeling system for a high-efficiency synchronous machine according to an embodiment of the present application.

[0182] like Figure 2 As shown, the present application also provides an electromagnetic transient modeling system for a high-efficiency synchronous machine, comprising a prediction data module 10, a first processing module 20, a first calculation and solution module 30, a second processing module 40, a second calculation and solution module 50 and a judgment module 60;

[0183] A prediction data module 10 is used to predict a first rotor angular velocity, a first rotor angle, a first current q component and a first current d component of an armature current of the synchronous machine at a certain moment by using a linear extrapolation method;

[0184] The first processing module 20 is used to determine a first Norton circuit of the simulated synchronous machine according to the first current q component and the first current d component; and convert the first Norton circuit from a dq0 quantity to a second Norton circuit of an abc phase quantity through coordinate transformation;

[0185] The first calculation and solution module 30 is used to invert the equivalent resistance matrix in the second Norton circuit to obtain an equivalent conductance matrix, and input the equivalent conductance matrix into the network conductance matrix for solution to obtain the three-phase voltage of the synchronous machine port;

[0186] The second processing module 40 is used to determine the second current q component, the second current d component and the rotor current of the synchronous machine armature current according to the three-phase voltage, and determine the stator flux d component and the stator flux q component of the synchronous machine;

[0187] A second calculation and solution module 50 is used to obtain a second rotor angular velocity and a second rotor angle of the synchronous machine by solving the second current q component, the second current d component, the stator flux d component and the stator flux q component in the mechanical system equation;

[0188] The judgment module 60 is used to calculate the corresponding absolute values ​​of the errors by respectively calculating the second current q component, the second current d component, the second rotor angular velocity, and the second rotor angle with the corresponding first current q component, the first current d component, the first rotor angular velocity, and the first rotor angle; if all the absolute values ​​of the errors are less than the allowable error value, the second rotor angular velocity and the second rotor angle of the synchronous machine are output.

[0189] In the embodiment of the present application, the mechanical system equation is:

[0190]

[0191]

[0192]

[0193] Where p is the number of poles of the synchronous machine, λ q is the stator flux q component, λ d is the stator flux d component, is the second current d component, is the second current q component, J is the moment of inertia of the synchronous machine, D is the viscosity and air friction damping coefficient of the synchronous machine, T is the mechanical torque of the synchronous machine, ω is the second rotor angular velocity, θ is the second rotor angle, and t is the simulation time.

[0194] In the embodiment of the present application, the second processing module 40 includes a conversion submodule, a second calculation submodule and a third calculation submodule:

[0195] A conversion submodule, used for converting the three-phase voltage using Park transformation to obtain a dq0-axis voltage component corresponding to the three-phase voltage;

[0196] A first calculation submodule is used to calculate the second current q component and the second current d component of the armature current of the synchronous machine according to the matrix parameters of the Thevenin equation on the stator side and the dq0 axis voltage component through the armature current calculation formula;

[0197] A second calculation submodule is used to calculate the rotor current of the synchronous machine through a rotor current calculation formula based on the parameter data of the synchronous machine, the dq0 axis voltage component, the second current q component and the second current d component;

[0198] A third calculation submodule is used to calculate the stator flux d component and the stator flux q component of the synchronous machine through a stator flux dq component calculation formula based on the parameter data of the synchronous machine, the second current q component, the second current d component and the rotor current;

[0199] The Parker transform is:

[0200]

[0201] The armature current calculation formula is:

[0202]

[0203]

[0204] The rotor current calculation formula is:

[0205]

[0206] i r =[if i D i g i Q ] T

[0207]

[0208]

[0209]

[0210]

[0211]

[0212] The calculation formula for the stator flux dq component is:

[0213]

[0214]

[0215] In the formula, is the second current d component, is the second current q component, R d , R q , R 0 are the resistance parameters of the resistance matrix in the Thevenin equation on the stator side, e d 、e q 、e 0 are the voltage parameters of the voltage source matrix in the Thevenin equation on the stator side, θ 1 is the first rotor angle, v a is the phase a voltage of the three-phase voltage, v b is the b-phase voltage of the three-phase voltage, v c is the c-phase voltage of the three-phase voltage, v d is the first voltage d component of the dq0 axis voltage component, v q is the second voltage q component of the dq0 axis voltage component, v 0 is the third voltage 0 component of the dq0 axis voltage component, λ d is the stator flux d component, λ q is the stator flux q component. The parameter data of the synchronous machine include the direct-axis armature winding self-inductance L of the synchronous machine. d , the mutual inductance M between the direct-axis armature winding and the excitation winding df , direct axis armature winding and direct axis damping winding D mutual inductance M dD , quadrature-axis armature winding self-inductance L q , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding g qg , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding QqQ , excitation current i f , direct-axis damping winding D current i D , quadrature-axis damping winding g current i g and the quadrature-axis damping winding Q current i Q ,i r is the rotor current matrix, is the stator self-inductance dq0 matrix of the synchronous machine, R s is the stator resistance matrix of the synchronous machine, k is 2 / Δt, is the stator-rotor mutual inductance dq0 matrix of the synchronous machine, and are the stator current, stator voltage and stator flux phase domain matrices of the previous time step respectively.

[0216] It should be noted that the contents of the modules in the system of the second embodiment have been described in detail in the contents of the steps in the method of the first embodiment, and the contents of the modules in the system of the second embodiment will not be described in detail here.

[0217] Embodiment three:

[0218] The present application also provides a terminal device, including a processor and a memory;

[0219] A memory, used for storing program codes and transmitting the program codes to a processor;

[0220] The processor is used to execute the electromagnetic transient modeling method of the high-efficiency synchronous machine according to the instructions in the program code.

[0221] It should be noted that the electromagnetic transient modeling method of the high-efficiency synchronous machine has been described in detail in the first embodiment and will not be elaborated here. The processor is used to execute the steps in the above-mentioned electromagnetic transient modeling method embodiment of a high-efficiency synchronous machine according to the instructions in the program code. Alternatively, when the processor executes the computer program, the functions of each module / unit in the above-mentioned system / device embodiments are realized.

[0222] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in a memory and executed by a processor to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing a specific function, and the instruction segments are used to describe the execution process of the computer program in a terminal device.

[0223] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that this does not constitute a limitation on the terminal device, and may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0224] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0225] The memory may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal device. Furthermore, the memory may also include both an internal storage unit of the terminal device and an external storage device. The memory is used to store computer programs and other programs and data required by the terminal device. The memory may also be used to temporarily store data that has been output or is to be output.

[0226] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0227] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0228] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0229] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0230] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0231] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for electromagnetic transient modeling of high-efficiency synchronous machines. It is characterized in that The following steps are involved: S1. Use linear extrapolation to predict the first rotor angular velocity, the first rotor angle, the first current q component and the first current d component of the synchronous machine at a certain moment; S2. Determine a first Norton circuit of a simulated synchronous machine according to the first current q component and the first current d component; convert the first Norton circuit from dq0 quantity to abc phase quantity by coordinate transformation; S3. Inverting the equivalent resistance matrix in the second Norton circuit to obtain an equivalent conductance matrix, and inputting the equivalent conductance matrix into the network conductance matrix for solution to obtain the three-phase voltage of the synchronous machine port; S4. Determine the second current q component, the second current d component and the rotor current of the synchronous machine armature current according to the three-phase voltage, and determine the stator flux d component and the stator flux q component of the synchronous machine; S5. The second rotor angular velocity and the second rotor angle of the synchronous machine are obtained by solving the second current q component, the second current d component, the stator flux d component and the stator flux q component in the mechanical system equation; S6. Calculate the second current q component, the second current d component, the second rotor angular velocity, and the second rotor angle respectively with the corresponding first current q component, the first current d component, the first rotor angular velocity, and the first rotor angle to obtain corresponding absolute values ​​of errors; if all absolute values ​​of errors are less than the allowable error value, return to step S1; Determining the second current q component, the second current d component and the rotor current of the armature current of the synchronous machine according to the three-phase voltage, and determining the stator flux d component and the stator flux q component of the synchronous machine comprises: The three-phase voltage is converted by Park transformation to obtain a dq0-axis voltage component corresponding to the three-phase voltage; According to the matrix parameters of the Thevenin equation on the stator side and the dq0-axis voltage component, the second current q component and the second current d component of the armature current of the synchronous machine are calculated by the armature current calculation formula; Based on the parameter data of the synchronous machine, the dq0-axis voltage component, the second current q component and the second current d component, the rotor current of the synchronous machine is calculated by a rotor current calculation formula; Based on the parameter data of the synchronous machine, the second current q component, the second current d component and the rotor current, the stator flux d component and the stator flux q component of the synchronous machine are calculated by a stator flux dq component calculation formula; Wherein, the Parker transform is: The armature current calculation formula is: The rotor current calculation formula is: i r =[i f i D i g i Q ] T The calculation formula of the stator flux dq component is: In the formula, is the second current d component, is the second current q component, R d , R q , R 0 are the resistance parameters of the resistance matrix in the Thevenin equation on the stator side, e d 、e q 、e 0 are the voltage parameters of the voltage source matrix in the Thevenin equation on the stator side, θ 1 is the first rotor angle, v a is the phase a voltage of the three-phase voltage, v b is the b-phase voltage of the three-phase voltage, v c is the c-phase voltage of the three-phase voltage, v d is the first voltage d component of the dq0 axis voltage component, v q is the second voltage q component of the dq0 axis voltage component, v 0 is the third voltage 0 component of the dq0 axis voltage component, λ d is the stator flux d component, λ q is the stator flux q component. The parameter data of the synchronous machine include the direct-axis armature winding self-inductance L of the synchronous machine. d , the mutual inductance M between the direct-axis armature winding and the excitation winding df , direct axis armature winding and direct axis damping winding D mutual inductance M dD , quadrature-axis armature winding self-inductance L q , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding g qg , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding Q qQ , excitation current i f , direct-axis damping winding D current i D , quadrature-axis damping winding g current i g and the quadrature-axis damping winding Q current i Q ,i r is the rotor current matrix, is the stator self-inductance dq0 matrix of the synchronous machine, R s is the stator resistance matrix of the synchronous machine, k is 2 / Δt, is the stator-rotor mutual inductance dq0 matrix of the synchronous machine, and are the stator current, stator voltage and stator flux phase domain matrix of the previous time step, Δt is the simulation step length, is the first current d component, is the first current q component, i 0 is the 0 component of the dq0-axis current.

2. The electromagnetic transient modeling method of a high-efficiency synchronous machine according to claim 1, It is characterized in that include: If the absolute value of any one of the errors is not less than the allowable error value, return to step S4.

3. The electromagnetic transient modeling method of a high-efficiency synchronous machine according to claim 1, It is characterized in that The mechanical system equation is: Where p is the number of poles of the synchronous machine, λ q is the stator flux q component, λ d is the stator flux d component, is the second current d component, is the second current q component, J is the moment of inertia of the synchronous machine, D is the viscosity and air friction damping coefficient of the synchronous machine, T is the mechanical torque of the synchronous machine, ω is the second rotor angular velocity, θ is the second rotor angle, and t is the simulation time.

4. The electromagnetic transient modeling method of a high-efficiency synchronous machine according to claim 1, It is characterized in that determining a first Norton circuit simulating a synchronous machine according to the first current q component and the first current d component; The second Norton circuit that converts the first Norton circuit from the dq0 quantity to the abc phase quantity by coordinate transformation includes: Obtaining the stator and rotor voltage equations of the synchronous machine, and performing discretization processing using an implicit trapezoidal integration method according to the stator and rotor voltage equations to obtain a first transformation equation; Performing Park transformation on the first transformation equation, eliminating rotor variables, and using average resistance processing on the dq axis to obtain the Thevenin equation on the stator side; The Thévenin equation on the stator side is converted into a first Norton circuit simulating a synchronous machine by mathematical transformation; The first Norton circuit is converted from a dq0 quantity to a second Norton circuit of abc phase using a phase coordinate transformation formula; Wherein, the first Norton circuit is: The phase coordinate transformation formula is: In the formula, is the first current d component, is the first current q component, R d , R q , R 0 are the resistance parameters of the resistance matrix in the Thevenin equation on the stator side, e d 、e q 、e 0 are the voltage parameters of the voltage source matrix in the Thevenin equation on the stator side, i d，source is the first current d value of the first Norton circuit, i q，source is the second current q value of the first Norton circuit, i 0，source is the third current 0 value of the first Norton circuit, θ 1 is the first rotor angle, i a，source is the first current of the a-phase current source of the second Norton circuit, i b，source is the second current of the second Norton circuit b-phase current source, i c，source is the third current of the second Norton circuit c-phase current source.

5. The electromagnetic transient modeling method of a high-efficiency synchronous machine according to claim 1, It is characterized in that Inverting the equivalent resistance matrix in the second Norton circuit to obtain an equivalent conductance matrix, and inputting the equivalent conductance matrix into the network conductance matrix for solving to obtain the three-phase voltage at the synchronous machine port includes: inverting the equivalent resistance in the second Norton circuit to obtain the equivalent conductance matrix, and inputting the equivalent conductance matrix into the network conductance matrix before the time step cycle and solving it through the network solution equation to obtain the three-phase voltage at the synchronous machine port; wherein the network solution equation is YV=I, Y is the network conductance matrix, I is the current matrix composed of currents in the second Norton circuit, and V is the voltage matrix composed of the solved three-phase voltages at the synchronous machine port.

6. An electromagnetic transient modeling system for efficient synchronous machines, It is characterized in that include: A prediction data module, a first processing module, a first calculation and solution module, a second processing module, a second calculation and solution module and a judgment module; The prediction data module is used to predict the first rotor angular velocity, the first rotor angle, the first current q component and the first current d component of the armature current of the synchronous machine at a certain moment by using a linear extrapolation method; The first processing module is used to determine a first Norton circuit of the simulated synchronous machine according to the first current q component and the first current d component; convert the first Norton circuit from a dq0 quantity to a second Norton circuit of an abc phase quantity through coordinate transformation; The first calculation and solution module is used to invert the equivalent resistance matrix in the second Norton circuit to obtain an equivalent conductance matrix, and input the equivalent conductance matrix into the network conductance matrix for solution to obtain the three-phase voltage of the synchronous machine port; The second processing module is used to determine the second current q component, the second current d component and the rotor current of the synchronous machine armature current according to the three-phase voltage, and determine the stator flux d component and the stator flux q component of the synchronous machine; The second calculation and solution module is used to obtain a second rotor angular velocity and a second rotor angle of the synchronous machine by solving the second current q component, the second current d component, the stator flux d component and the stator flux q component in a mechanical system equation; The judgment module is used to calculate the second current q component, the second current d component, the second rotor angular velocity, and the second rotor angle with the corresponding first current q component, the first current d component, the first rotor angular velocity, and the first rotor angle, respectively, to obtain corresponding absolute values ​​of errors; if all the absolute values ​​of the errors are less than the allowable error value, output the second rotor angular velocity and the second rotor angle of the synchronous machine; The second processing module includes a conversion submodule, a first calculation submodule, a second calculation submodule and a third calculation submodule; The conversion submodule is used to convert the three-phase voltage using Park transformation to obtain a dq0-axis voltage component corresponding to the three-phase voltage; The first calculation submodule is used to calculate the second current q component and the second current d component of the synchronous machine armature current through the armature current calculation formula according to the matrix parameters of the Thevenin equation on the stator side and the dq0 axis voltage component; The second calculation submodule is used to calculate the rotor current of the synchronous machine through a rotor current calculation formula based on the parameter data of the synchronous machine, the dq0-axis voltage component, the second current q component and the second current d component; The third calculation submodule is used to calculate the stator flux d component and the stator flux q component of the synchronous machine through a stator flux dq component calculation formula based on the parameter data of the synchronous machine, the second current q component, the second current d component and the rotor current; Wherein, the Parker transform is: The armature current calculation formula is: The rotor current calculation formula is: i r =[i f i D i g i Q ] T The calculation formula of the stator flux dq component is: In the formula, is the second current d component, is the second current q component, R d , R q , R 0 are the resistance parameters of the resistance matrix in the Thevenin equation on the stator side, e d 、e q 、e 0 are the voltage parameters of the voltage source matrix in the Thevenin equation on the stator side, θ 1 is the first rotor angle, v a is the phase a voltage of the three-phase voltage, v b is the b-phase voltage of the three-phase voltage, v c is the c-phase voltage of the three-phase voltage, v d is the first voltage d component of the dq0 axis voltage component, v q is the second voltage q component of the dq0 axis voltage component, v 0 is the third voltage 0 component of the dq0 axis voltage component, λ d is the stator flux d component, λ q is the stator flux q component. The parameter data of the synchronous machine include the direct-axis armature winding self-inductance L of the synchronous machine. d , the mutual inductance M between the direct-axis armature winding and the excitation winding df , direct axis armature winding and direct axis damping winding D mutual inductance M dD , quadrature-axis armature winding self-inductance L q , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding g qg , the mutual inductance M of the quadrature-axis armature winding and the quadrature-axis damping winding Q qQ , excitation current i f , direct-axis damping winding D current i D , quadrature-axis damping winding g current i g and the quadrature-axis damping winding Q current i Q ,i r is the rotor current matrix, is the stator self-inductance dq0 matrix of the synchronous machine, R s is the stator resistance matrix of the synchronous machine, k is 2 / Δt, is the stator-rotor mutual inductance dq0 matrix of the synchronous machine, and are the stator current, stator voltage and stator flux phase domain matrix of the previous time step, Δt is the simulation step length, is the first current d component, is the first current q component, i 0 is the 0 component of the dq0-axis current.

7. The electromagnetic transient modeling system for a high-efficiency synchronous machine according to claim 6, It is characterized in that The mechanical system equation is: Where p is the number of poles of the synchronous machine, λ q is the stator flux q component, λ d is the stator flux d component, is the second current d component, is the second current q component, J is the moment of inertia of the synchronous machine, D is the viscosity and air friction damping coefficient of the synchronous machine, T is the mechanical torque of the synchronous machine, ω is the second rotor angular velocity, θ is the second rotor angle, and t is the simulation time.

8. A terminal device, It is characterized in that including a processor and a memory; The memory is used to store program codes and transmit the program codes to the processor; The processor is used to execute the electromagnetic transient modeling method of a high-efficiency synchronous machine as described in any one of claims 1 to 5 according to the instructions in the program code.

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