Numerical calculation method and device of high-speed flywheel in real-time digital simulator

Abstract

The invention provides a numerical calculation method and a numerical calculation device for a high-speed flywheel in a real-time digital simulator. The numerical calculation method comprises the following steps: establishing a numerical calculation verification platform for a single-machine energy storage system of the high-speed flywheel in the real-time digital simulator; then performing numerical modeling on the high-speed flywheel single-machine energy storage system on the high-speed flywheel single-machine energy storage system numerical calculation verification platform to obtain a modeling equation of the high-speed flywheel single-machine energy storage system, and performing equivalent modeling numerical calculation on the modeling equation of the high-speed flywheel single-machine energy storage system by adopting a trapezoidal integral algorithm and a Taylor series algorithm; obtaining a modeling equation calculation result of the high-speed flywheel single-machine energy storage system, wherein the calculation result reflects the performance characteristics of the high-speed flywheel single-machine energy storage system; the problems that numerical calculation is unstable and the model building process is complex in the simulation model building process are effectively solved, and the research and development period of related control and protection equipment of the flywheel energy storage system is shortened.

Description

Technical Field

[0001] The invention relates to the technical field of high-speed flywheel energy storage system simulation, and in particular to a numerical calculation method and device for a high-speed flywheel in a real-time digital simulator. Background Art

[0002] This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No admission is made that the description herein is prior art by inclusion in this section.

[0003] The flywheel energy storage system is an energy storage system based on electromechanical energy conversion. It stores energy in the form of kinetic energy in a high-speed rotating flywheel and uses physical methods to achieve energy storage. It has the advantages of high energy storage density, wide application range, high efficiency, long life, and no pollution. When using a real-time digital power systems simulation (RTDS) to simulate a high-speed flywheel energy storage system, it is necessary to study the electromagnetic and mechanical systems of the high-speed flywheel to build a dynamic simulation model of the flywheel energy storage system. In the prior art, there are problems in the instability of numerical calculations and the complexity of the model building process in the process of building a simulation model of a high-speed flywheel energy storage system. Summary of the invention

[0004] The embodiment of the present invention provides a numerical calculation method of a high-speed flywheel in a real-time digital simulator, which is used to effectively solve the problems of numerical calculation instability and complex model building process in the process of building a simulation model of a high-speed flywheel energy storage system; the method comprises:

[0005] Build a numerical calculation verification platform for high-speed flywheel single-machine energy storage system in a real-time digital simulator;

[0006] On the high-speed flywheel single-machine energy storage system numerical calculation verification platform, based on the existing mathematical model of high-speed flywheel energy storage system array body dynamic simulation and combined with the flywheel rotation characteristics of the high-speed flywheel single-machine energy storage system, the high-speed flywheel single-machine energy storage system is numerically modeled to obtain the modeling equation of the high-speed flywheel single-machine energy storage system;

[0007] The trapezoidal integral algorithm and the Taylor series algorithm are used to perform equivalent modeling numerical calculations on the modeling equations of the high-speed flywheel single-machine energy storage system, and the calculation results of the modeling equations of the high-speed flywheel single-machine energy storage system are obtained. The calculation results reflect the performance characteristics of the high-speed flywheel single-machine energy storage system.

[0008] The embodiment of the present invention further provides a numerical calculation device for a high-speed flywheel in a real-time digital simulator, which is used to effectively solve the problems of numerical calculation instability and complex model building process in the process of building a simulation model. The device includes:

[0009] The simulation verification platform building module is used to build a numerical calculation verification platform for a high-speed flywheel single-machine energy storage system in a real-time digital simulator;

[0010] A modeling module is used to perform numerical modeling of a high-speed flywheel single-machine energy storage system on a high-speed flywheel single-machine energy storage system numerical calculation verification platform based on an existing mathematical model of dynamic simulation of a high-speed flywheel energy storage system array body and combined with the flywheel rotation characteristics of the high-speed flywheel single-machine energy storage system to obtain a modeling equation for the high-speed flywheel single-machine energy storage system;

[0011] The calculation module is used to perform equivalent modeling numerical calculation on the modeling equation of the high-speed flywheel single-machine energy storage system using the trapezoidal integration algorithm and the Taylor series algorithm to obtain the calculation results of the modeling equation of the high-speed flywheel single-machine energy storage system, and the calculation results reflect the performance characteristics of the high-speed flywheel single-machine energy storage system.

[0012] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned numerical calculation method of a high-speed flywheel in a real-time digital simulator when executing the computer program.

[0013] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the numerical calculation method of the high-speed flywheel in a real-time digital simulator is implemented.

[0014] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the computer program implements the above-mentioned numerical calculation method of a high-speed flywheel in a real-time digital simulator.

[0015] The numerical calculation method and device of the high-speed flywheel in the real-time digital simulator of the embodiment of the present invention builds a numerical calculation verification platform for the high-speed flywheel stand-alone energy storage system in the real-time digital simulator; on the numerical calculation verification platform for the high-speed flywheel stand-alone energy storage system, based on the existing mathematical model of the dynamic simulation of the high-speed flywheel energy storage system array body, combined with the flywheel rotation characteristics of the high-speed flywheel stand-alone energy storage system, the high-speed flywheel stand-alone energy storage system is numerically modeled to obtain the modeling equation of the high-speed flywheel stand-alone energy storage system; the trapezoidal integral algorithm and the Taylor series algorithm are used to perform equivalent modeling numerical calculations on the modeling equation of the high-speed flywheel stand-alone energy storage system The calculation results of the modeling equations of the high-speed flywheel stand-alone energy storage system are obtained by calculation, and the calculation results reflect the performance characteristics of the high-speed flywheel stand-alone energy storage system. The present invention can effectively simulate the operating characteristics of the high-speed flywheel system during the rotation process, and build a usable real-time simulation test environment for the high-speed flywheel energy storage system through the numerical calculation method built in the real-time digital simulator, which provides a reference for the high-performance dynamic simulation calculation of the high-speed flywheel stand-alone energy storage, effectively solves the problems of numerical calculation instability and complex model building process in the process of building the simulation model, and shortens the research and development cycle of related control and protection equipment of the flywheel energy storage system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. 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 creative work. In the drawings:

[0017] Figure 1 A schematic diagram of a method for numerical calculation of a high-speed flywheel in a real-time digital simulator in an embodiment of the present invention;

[0018] Figure 2 It is the RTDS simulation platform structure of flywheel energy storage grid-connected system;

[0019] Figure 3 It is a structural schematic diagram of a numerical calculation verification platform for a high-speed flywheel single-machine energy storage system in an embodiment of the present invention;

[0020] Figure 4 A specific example diagram of numerical modeling of a high-speed flywheel single-machine energy storage system in an embodiment of the present invention;

[0021] Figure 5 A specific example diagram of equivalent modeling numerical calculation of the modeling equation of a high-speed flywheel single-machine energy storage system using a trapezoidal integration algorithm and a Taylor series algorithm in an embodiment of the present invention;

[0022] Figure 6A specific example diagram of online algorithm switching between a trapezoidal integration algorithm and a Taylor series algorithm through a selector in an embodiment of the present invention;

[0023] Figure 7 A specific example diagram of verifying the accuracy of calculation results of a high-speed flywheel single-machine energy storage system in a real-time digital simulator in an embodiment of the present invention;

[0024] Figure 8 Schematic diagram of the waveforms of key signals in the high-speed flywheel speed command adjustment process in an embodiment of the present invention;

[0025] Fig. 9 Schematic diagram of the key signal waveforms in the high-speed flywheel mechanical torque command adjustment process in an embodiment of the present invention;

[0026] Fig.10 Schematic diagram of converter-related waveforms in the high-speed flywheel mechanical torque command regulation process in an embodiment of the present invention;

[0027] Fig.11 It is a structural schematic diagram of a numerical calculation device of a high-speed flywheel in a real-time digital simulator in an embodiment of the present invention;

[0028] Fig.12 It is a specific example diagram of the structure of the numerical calculation device of the high-speed flywheel in the real-time digital simulator in the embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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.

[0030] As mentioned above, there are problems of complex modeling and unstable numerical calculation in the technical field of high-speed flywheel energy storage system simulation. In order to solve this problem, an embodiment of the present invention provides a numerical calculation method of a high-speed flywheel in a real-time digital simulator. The method builds a numerical calculation verification platform for a high-speed flywheel stand-alone energy storage system in a real-time digital simulator; on the numerical calculation verification platform for the high-speed flywheel stand-alone energy storage system, based on the existing mathematical model of the dynamic simulation of the high-speed flywheel energy storage system array body, combined with the flywheel rotation characteristics of the high-speed flywheel stand-alone energy storage system, the high-speed flywheel stand-alone energy storage system is numerically modeled to obtain a modeling equation of the high-speed flywheel stand-alone energy storage system; the trapezoidal integral algorithm and the Taylor series algorithm are used to perform equivalent modeling numerical calculations on the modeling equation of the high-speed flywheel stand-alone energy storage system to obtain the calculation results of the modeling equation of the high-speed flywheel stand-alone energy storage system, and the calculation results reflect the performance characteristics of the high-speed flywheel stand-alone energy storage system.

[0031] The mathematical model of the flywheel energy storage system array body dynamic simulation (electromechanical transient and medium- and long-term dynamic) is a set of differential algebraic equations (DAE), as shown in formula (1):

[0032]

[0033] Among them, x and y represent algebraic variables and state variables respectively, f and g represent functions, differential equations describe the dynamic characteristics of components such as motors, speed regulation, and loads in the system, and algebraic equations describe the algebraic constraints of the power network. Numerical integration algorithms are the core of the above differential algebraic equation calculations and the basis for constructing high-performance solution algorithms. Solution efficiency, numerical convergence, and numerical stability are all key to the calculation. Different integration algorithms have different algorithm characteristics and solution performance. When performing dynamic simulation analysis of power systems, it is necessary to carefully select integration algorithms.

[0034] The trapezoidal integration method has second-order accuracy and good stability.

[0035]

[0036] This method has high computational efficiency. The amount of floating-point operations when solving network equations is comparable to that of the backward Euler method. It has strong adaptability to rigid systems and is very suitable for dynamic stability simulation of power systems. Many components in the RTDS model library are solved using this method.

[0037] The Taylor series algorithm retains the first few terms of the Taylor expansion for the differential equation, thereby obtaining a discretized format with high-order truncation errors.

[0038]

[0039] where y n (j) Represents y n The j-th order derivative of , this method has N-th order accuracy. When N is selected to be a large value, this method has higher accuracy and can still maintain a certain adaptability in the case of large step size simulation.

[0040] The present invention builds a numerical calculation verification platform for a high-speed flywheel stand-alone energy storage system in a real-time digital simulator, numerically models the high-speed flywheel stand-alone energy storage system, and numerically solves and verifies a trapezoidal integral algorithm and a Taylor series algorithm. A numerical calculation method for a high-speed flywheel in a real-time digital simulator is proposed, which solves the problems of complex modeling and unstable numerical calculation in the prior art.

[0041] Figure 1FIG. 1 is a schematic diagram of a method for numerical calculation of a high-speed flywheel in a real-time digital simulator according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0042] Step 101, building a numerical calculation verification platform for a high-speed flywheel stand-alone energy storage system in a real-time digital simulator;

[0043] Step 102: On a high-speed flywheel stand-alone energy storage system numerical calculation verification platform, based on an existing mathematical model of a high-speed flywheel energy storage system array body dynamic simulation and in combination with the flywheel rotation characteristics of the high-speed flywheel stand-alone energy storage system, a high-speed flywheel stand-alone energy storage system is numerically modeled to obtain a modeling equation for the high-speed flywheel stand-alone energy storage system;

[0044] Step 103, using the trapezoidal integral algorithm and the Taylor series algorithm to perform equivalent modeling numerical calculations on the modeling equations of the high-speed flywheel single-machine energy storage system, and obtain calculation results of the modeling equations of the high-speed flywheel single-machine energy storage system, wherein the calculation results reflect the performance characteristics of the high-speed flywheel single-machine energy storage system.

[0045] In the specific implementation, a numerical calculation verification platform for a high-speed flywheel stand-alone energy storage system is built in a real-time digital simulator; then, on the numerical calculation verification platform for the high-speed flywheel stand-alone energy storage system, based on the existing mathematical model of the dynamic simulation of the high-speed flywheel energy storage system array body, combined with the flywheel rotation characteristics of the high-speed flywheel stand-alone energy storage system, the high-speed flywheel stand-alone energy storage system is numerically modeled to obtain a modeling equation of the high-speed flywheel stand-alone energy storage system, and the trapezoidal integral algorithm and Taylor series algorithm are used to perform equivalent modeling numerical calculations on the modeling equation of the high-speed flywheel stand-alone energy storage system to obtain calculation results of the modeling equation of the high-speed flywheel stand-alone energy storage system, and the calculation results reflect the performance characteristics of the high-speed flywheel stand-alone energy storage system.

[0046] Figure 2 The RTDS simulation platform structure of the flywheel energy storage grid-connected system is as follows: Figure 2 As shown in the figure, the flywheel energy storage system has three operating modes, namely flywheel energy storage mode, flywheel energy retention mode and flywheel energy release mode. In the flywheel energy storage mode, the power grid provides energy, which is converted by the power electronic device and then drives the motor to drive the flywheel to rotate at high speed, so that the flywheel reaches the rated maximum speed ω max , converting electrical energy into kinetic energy and storing it in a high-speed rotating flywheel. In the flywheel energy release mode, the flywheel energy storage system receives a demand control signal for energy release, and the high-speed rotating flywheel acts as a prime mover to drive the motor to generate electricity, converting kinetic energy into electrical energy, which is then transformed by the power electronics device and transmitted to the grid or to the load. Therefore, when performing real-time digital simulation modeling of the flywheel array, the model can be built by using the coaxial rotation of the flywheel array and the synchronous motor.

[0047] The present invention mainly focuses on the numerical calculation process of the high-speed flywheel single-machine energy storage system. Figure 3 It is a schematic diagram of the structure of the numerical calculation verification platform of the high-speed flywheel single-machine energy storage system in an embodiment of the present invention.

[0048] In an embodiment, a high-speed flywheel stand-alone energy storage system numerical calculation verification platform may include: a high-speed flywheel stand-alone energy storage system and a converter. The high-speed flywheel stand-alone energy storage system includes a high-speed flywheel and a built-in equivalent synchronous motor, and the high-speed flywheel and the built-in equivalent synchronous motor rotate coaxially. Figure 3 As shown in Figure 1, the numerical calculation verification platform of the high-speed flywheel single-machine energy storage system includes a high-speed flywheel single-machine energy storage system and a converter, wherein V DC is the output DC voltage, P stator The output rotor power of the high-speed flywheel single-machine energy storage system; P VSC is the converter output power; P grid It is the transmission power between the high-speed flywheel single-machine energy storage system and the power grid.

[0049] In an embodiment, on a high-speed flywheel stand-alone energy storage system numerical calculation verification platform, based on an existing mathematical model of dynamic simulation of the high-speed flywheel energy storage system array body, combined with the flywheel rotation characteristics of the high-speed flywheel stand-alone energy storage system, the high-speed flywheel stand-alone energy storage system is numerically modeled to obtain a modeling equation for the high-speed flywheel stand-alone energy storage system; this may include: on a high-speed flywheel stand-alone energy storage system numerical calculation verification platform, based on an existing mathematical model of dynamic simulation of the high-speed flywheel energy storage system array body, combined with the high-speed flywheel's moment of inertia, angular velocity, high-speed flywheel mechanical torque, motor electromagnetic torque and viscous friction coefficient, the high-speed flywheel stand-alone energy storage system is numerically modeled to obtain a modeling equation for the high-speed flywheel stand-alone energy storage system.

[0050] Figure 4 FIG. 1 is a specific example diagram of numerical modeling of a high-speed flywheel single-machine energy storage system in an embodiment of the present invention. Figure 4 As shown, on the numerical calculation verification platform of the high-speed flywheel single-machine energy storage system, the high-speed flywheel single-machine energy storage system is numerically modeled according to the existing mathematical model of the dynamic simulation of the high-speed flywheel energy storage system array body combined with the rotational inertia, angular velocity, high-speed flywheel mechanical torque, motor electromagnetic torque and viscous friction coefficient of the high-speed flywheel, and the modeling equation of the high-speed flywheel single-machine energy storage system is obtained.

[0051] For example, in the specific implementation, in the process of numerical modeling of the high-speed flywheel single-machine energy storage system, the two modes of high-speed flywheel energy storage and energy release are mainly considered. In the energy storage mode of the high-speed flywheel single-machine energy storage system, the industrial frequency power grid provides energy to the high-speed flywheel single-machine energy storage system, and the high-speed flywheel single-machine energy storage system operates as a load. However, during the energy release process, the high-speed flywheel single-machine energy storage system drives the motor rotor to rotate through its own high-speed rotating inertia to provide energy to the power grid. During the modeling process, the design can be carried out according to the following formula:

[0052]

[0053] Where J is the moment of inertia of the high-speed flywheel, ω(t) is the angular velocity, T m is the mechanical torque, T e is the electromagnetic torque, and D is the viscous friction coefficient.

[0054] For a single high-speed flywheel array inertia time constant:

[0055]

[0056] Where, ω0 is the rated angular velocity of the flywheel; p is the number of equivalent synchronous motor poles inside the flywheel array, p=1; S is the rated capacity of the flywheel energy storage system. Equation (6) can be obtained by equation (5).

[0057]

[0058] In the process of numerical modeling of the high-speed flywheel single-machine energy storage system, the focus is on the high-speed flywheel energy storage array with a single mass block rotating, that is, the mutual torsion effect between the multiple mass blocks of the flywheel energy storage array is not considered. Substituting equation (6) into equation (4), and in order to simplify the analysis, the viscous friction coefficient D can be set to 0, and the above differential equation can be simplified to:

[0059]

[0060] make

[0061] Among them, T pu (t) is the per unit value of high-speed flywheel torque, ω pu (t) is the per unit value of the high-speed flywheel speed;

[0062] From formula (7), we can get:

[0063]

[0064] Among them, formula (8) is the modeling equation of the high-speed flywheel single-machine energy storage system.

[0065] In an embodiment, a trapezoidal integral algorithm and a Taylor series algorithm are used to perform equivalent modeling numerical calculations on the modeling equations of a high-speed flywheel stand-alone energy storage system to obtain calculation results of the modeling equations of the high-speed flywheel stand-alone energy storage system; the calculation results reflect the performance characteristics of the high-speed flywheel stand-alone energy storage system; and may include: the characteristics of the high-speed flywheel speed and the torque of the high-speed flywheel stand-alone energy storage system changing with time in a real-time digital simulator.

[0066] Figure 5 FIG. 1 is a specific example diagram of equivalent modeling numerical calculation of the modeling equation of a high-speed flywheel single-machine energy storage system using the trapezoidal integration algorithm and the Taylor series algorithm in an embodiment of the present invention; Figure 5 As shown, the trapezoidal integration algorithm and the Taylor series algorithm are used to perform equivalent modeling numerical calculations on the modeling equations of the high-speed flywheel single-machine energy storage system, and the performance characteristics of the high-speed flywheel single-machine energy storage system are obtained. The performance characteristics reflect the characteristics of the high-speed flywheel speed and the torque of the high-speed flywheel single-machine energy storage system changing with time in a real-time digital simulator.

[0067] For example, in a specific implementation, when modeling a high-speed flywheel single-machine energy storage system in a real-time digital simulator, since the simulation device is continuously operated with a step size of Δt, the modeling equation of the high-speed flywheel single-machine energy storage system of formula (8) can be discretized, and then the calculation result of each step size can be solved;

[0068] The trapezoidal integration algorithm is used to solve equation (8):

[0069]

[0070] The solution formula is:

[0071]

[0072] Among them, formula (10) is the calculation result of equivalent modeling numerical calculation of the modeling equation of the high-speed flywheel single-machine energy storage system using the trapezoidal integration algorithm.

[0073] The Taylor series algorithm is used to solve equation (8):

[0074]

[0075] T pu (j) (t) = f (j-1) (t,T pu (t)) represents the (j-1)th total derivative of the function f with respect to t.

[0076] When h = Δt, according to the third-order Taylor series discretization expansion, we get:

[0077]

[0078] For the third-order Taylor series algorithm, the solution formula is:

[0079]

[0080] When h = Δt, according to the fourth-order Taylor series discretization expansion, we get:

[0081]

[0082] According to the above formula, we can get:

[0083]

[0084] For the 4th Taylor series algorithm, the solution formula is:

[0085]

[0086] Among them, equations (13) and (16) are the calculation results of equivalent modeling numerical calculation of the modeling equation of the high-speed flywheel single-machine energy storage system using the Taylor series algorithm:

[0087] In addition, when using the N-times (N≥3) Taylor series algorithm to realize the equivalent modeling numerical calculation of the modeling equation of the high-speed flywheel single-machine energy storage system, it is necessary to realize the solution process of the equivalent modeling numerical calculation of the modeling equation of the high-speed flywheel single-machine energy storage system of this step length through the sampling results of the first N steps. The equivalent modeling numerical calculation and solution of the modeling equation of the high-speed flywheel single-machine energy storage system can be realized through the above-mentioned third-times Taylor series algorithm and fourth-times Taylor series algorithm, and the numerical calculation procedures are similar.

[0088] In an embodiment, a trapezoidal integral algorithm and a Taylor series algorithm are used to perform equivalent modeling numerical calculations on the modeling equations of a high-speed flywheel stand-alone energy storage system to obtain calculation results of the modeling equations of the high-speed flywheel stand-alone energy storage system, which may include: in the process of performing equivalent modeling numerical calculations on the modeling equations of the high-speed flywheel stand-alone energy storage system using the trapezoidal integral algorithm and the Taylor series algorithm, online algorithm switching is performed through a selector.

[0089] Figure 6 FIG. 1 is a specific example of performing online algorithm switching between the trapezoidal integration algorithm and the Taylor series algorithm through a selector in an embodiment of the present invention, as shown in FIG. Figure 6 As shown, where V DC is the output DC voltage, P stator The output rotor power of the high-speed flywheel single-machine energy storage system; P VSC is the converter output power; P grid It is used to transmit power between a high-speed flywheel single-machine energy storage system and the power grid; the trapezoidal integral algorithm and the Taylor series algorithm are switched online through a selector.

[0090] In the embodiment, after obtaining the calculation results of the modeling equations of the high-speed flywheel stand-alone energy storage system, the accuracy of the calculation results of the high-speed flywheel stand-alone energy storage system is verified in a real-time digital simulator. For example, it may include: changing the high-speed flywheel speed of the high-speed flywheel stand-alone energy storage system in the real-time digital simulator to verify the accuracy of the two numerical calculation methods of the Taylor series algorithm and the trapezoidal integral algorithm; and / or, changing the high-speed flywheel mechanical torque of the high-speed flywheel stand-alone energy storage system in the real-time digital simulator to verify the accuracy of the two numerical calculation methods of the Taylor series algorithm and the trapezoidal integral algorithm.

[0091] Figure 7 FIG. 1 is a specific example diagram of verifying the accuracy of the calculation results of a high-speed flywheel single-machine energy storage system in a real-time digital simulator in an embodiment of the present invention, as shown in FIG. Figure 7 As shown, the high-speed flywheel speed of the high-speed flywheel stand-alone energy storage system is changed in the real-time digital simulator to verify the accuracy of the two numerical calculation methods, the Taylor series algorithm and the trapezoidal integration algorithm; the high-speed flywheel mechanical torque of the high-speed flywheel stand-alone energy storage system is changed in the real-time digital simulator to verify the accuracy of the two numerical calculation methods, the Taylor series algorithm and the trapezoidal integration algorithm.

[0092] For example, in the specific implementation, in order to verify the correctness of the two numerical calculation methods, Taylor series algorithm and trapezoidal integral algorithm, a numerical calculation verification platform for high-speed flywheel single-machine energy storage system was built on a real-time digital simulator. When the high-speed flywheel speed command is set from 1pu to 0.9pu, the real-time calculation results of the two numerical calculation methods are recorded to examine the output waveform of the synchronous motor in the high-speed flywheel single-machine energy storage system.

[0093] Figure 8 Schematic diagram of the waveforms of key signals in the high-speed flywheel speed command adjustment process according to the embodiment of the present invention. Figure 8 As shown in the figure: PMSPD_TayLor and PMSPD_Traprl are the measured speed per unit values ​​of the high-speed flywheel single-machine energy storage system using the Taylor series algorithm and the trapezoidal integration algorithm respectively; WT1TeGenPU is the output electromagnetic torque per unit value of the synchronous motor in the high-speed flywheel single-machine energy storage system; WT1PgenFilt is the output power measurement value of the synchronous motor in the high-speed flywheel single-machine energy storage system. It can be seen from the above waveforms that the use of the Taylor series algorithm and the trapezoidal integration algorithm can realize the accurate calculation of the speed change during the high-speed flywheel rotation process, and the two calculation results are consistent.

[0094] In another example, during the specific implementation, in order to verify the mutual influence of the mechanical torque change of the high-speed flywheel single-machine energy storage system on the internal equivalent synchronous motor and even the machine-side converter, the high-speed flywheel mechanical torque reference value is set from 1pu to 0.8pu, and the real-time calculation results of the two numerical calculation methods are recorded to examine the output waveforms of the synchronous motor and the machine-side converter in the high-speed flywheel single-machine energy storage system.

[0095] Fig. 9 Schematic diagram of the waveforms of key signals in the high-speed flywheel mechanical torque command adjustment process according to an embodiment of the present invention. Fig. 9 As shown in the figure, PMSPD_TayLor and PMSPD_Traprl are the measured speed per unit values ​​of the high-speed flywheel single-machine energy storage system using the Taylor series algorithm and the trapezoidal integration algorithm respectively; WT1TeGenPU is the output electromagnetic torque per unit value of the synchronous motor in the high-speed flywheel single-machine energy storage system; WT1PgenFilt is the output power measurement value of the synchronous motor in the high-speed flywheel single-machine energy storage system. Fig. 9 It can be seen from the waveform that the use of Taylor series algorithm and trapezoidal integration algorithm can realize the accurate calculation of the change of flywheel speed during the high-speed flywheel mechanical torque regulation process, and the built-in equivalent synchronous motor can achieve good tracking of electromagnetic torque and output power.

[0096] Fig.10 FIG. 1 is a schematic diagram of the relevant waveforms of the converter in the high-speed flywheel mechanical torque command regulation process according to an embodiment of the present invention. Fig.10 As shown in the figure, WT1VdcBus1 signal is the voltage signal of the DC side of the converter, WT1IstatA, WT1IstatB, and WT1IstatC are the three-phase rotor current signals of the built-in equivalent synchronous motor (the current of the AC connection point of the machine-side converter), and WT1VstatA, WT1VstatB, and WT1VstatC are the three-phase output voltage signals of the built-in equivalent synchronous motor (the voltage of the AC connection point of the machine-side converter). It can be seen from the above figure that the converter can achieve good control of the DC voltage during the high-speed flywheel mechanical torque regulation process, and the three-phase output voltage and current of the built-in equivalent synchronous motor of the high-speed flywheel single-machine energy storage system remain basically stable.

[0097] The embodiment of the present invention also provides a numerical calculation device for a high-speed flywheel in a real-time digital simulator, as described in the following embodiment. Since the principle of solving the problem by the device is similar to the method for numerical calculation of a high-speed flywheel in a real-time digital simulator, the implementation of the device can refer to the implementation of the method for numerical calculation of a high-speed flywheel in a real-time digital simulator, and the repeated parts will not be repeated.

[0098] Fig.11 FIG. 1 is a schematic diagram of the structure of a numerical calculation device of a high-speed flywheel in a real-time digital simulator according to an embodiment of the present invention. Fig.11As shown, the device comprises:

[0099] A simulation verification platform construction module 1101 is used to build a numerical calculation verification platform for a high-speed flywheel single-machine energy storage system in a real-time digital simulator;

[0100] Modeling module 1102 is used to perform numerical modeling of the high-speed flywheel single-machine energy storage system on a high-speed flywheel single-machine energy storage system numerical calculation verification platform based on an existing mathematical model of dynamic simulation of the high-speed flywheel energy storage system array body and in combination with the flywheel rotation characteristics of the high-speed flywheel single-machine energy storage system, and obtain a modeling equation for the high-speed flywheel single-machine energy storage system;

[0101] The calculation module 1103 is used to perform equivalent modeling numerical calculation on the modeling equation of the high-speed flywheel single-machine energy storage system by using the trapezoidal integral algorithm and the Taylor series algorithm to obtain the calculation result of the modeling equation of the high-speed flywheel single-machine energy storage system, and the calculation result reflects the performance characteristics of the high-speed flywheel single-machine energy storage system;

[0102] In one embodiment, the simulation verification platform construction module 1101 is specifically used to build a high-speed flywheel stand-alone energy storage system numerical calculation verification platform in a real-time digital simulator; the high-speed flywheel stand-alone energy storage system numerical calculation verification platform includes a high-speed flywheel stand-alone energy storage system and a converter; the high-speed flywheel stand-alone energy storage system includes a high-speed flywheel and a built-in equivalent synchronous motor, and the high-speed flywheel and the built-in equivalent synchronous motor rotate coaxially.

[0103] In one embodiment, the modeling module 1102 is specifically used to perform numerical modeling of the high-speed flywheel stand-alone energy storage system on a high-speed flywheel stand-alone energy storage system numerical calculation verification platform, based on the existing mathematical model of the dynamic simulation of the high-speed flywheel energy storage system array body, combined with the rotational inertia, angular velocity, high-speed flywheel mechanical torque, motor electromagnetic torque and viscous friction coefficient of the high-speed flywheel, to obtain the modeling equation of the high-speed flywheel stand-alone energy storage system.

[0104] In one embodiment, the calculation module 1103 is specifically used to perform equivalent modeling numerical calculations on the modeling equations of the high-speed flywheel stand-alone energy storage system using a trapezoidal integration algorithm and a Taylor series algorithm to obtain calculation results of the modeling equations of the high-speed flywheel stand-alone energy storage system. The calculation results reflect the performance characteristics of the high-speed flywheel stand-alone energy storage system, including the characteristics of the high-speed flywheel speed and the torque of the high-speed flywheel stand-alone energy storage system changing with time in a real-time digital simulator.

[0105] In one embodiment, the calculation module 1103 is specifically used to switch the online algorithm through a selector during the process of performing equivalent modeling numerical calculations on the modeling equations of the high-speed flywheel single-machine energy storage system using the trapezoidal integration algorithm and the Taylor series algorithm.

[0106] Fig.12FIG. 1 is a specific example of the structure of the numerical calculation device of the high-speed flywheel in the real-time digital simulator in the embodiment of the present invention. Fig.12 As shown, in one embodiment, Fig.11 The structure of the numerical calculation device of the high-speed flywheel in the real-time digital simulator in the embodiment of the present invention can also include: a verification module 1201, which is used to verify the accuracy of the calculation result of the high-speed flywheel single-machine energy storage system in the real-time digital simulator after obtaining the calculation result of the modeling equation of the high-speed flywheel single-machine energy storage system;

[0107] In this example, the verification module 1201 is specifically used to: change the high-speed flywheel speed of the high-speed flywheel stand-alone energy storage system in a real-time digital simulator to verify the accuracy of the two numerical calculation methods, the Taylor series algorithm and the trapezoidal integration algorithm; and / or, change the high-speed flywheel mechanical torque of the high-speed flywheel stand-alone energy storage system in a real-time digital simulator to verify the accuracy of the two numerical calculation methods, the Taylor series algorithm and the trapezoidal integration algorithm.

[0108] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of numerical calculation of the high-speed flywheel in a real-time digital simulator when executing the computer program.

[0109] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for numerical calculation of the high-speed flywheel in a real-time digital simulator is implemented.

[0110] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method for numerical calculation of the high-speed flywheel in a real-time digital simulator is implemented.

[0111] The method and device for numerical calculation of a high-speed flywheel in a real-time digital simulator of an embodiment of the present invention are as follows: a numerical calculation verification platform for a high-speed flywheel stand-alone energy storage system is built in a real-time digital simulator; on the numerical calculation verification platform for the high-speed flywheel stand-alone energy storage system, based on an existing mathematical model for dynamic simulation of an array body of a high-speed flywheel energy storage system, combined with the flywheel rotation characteristics of the high-speed flywheel stand-alone energy storage system, a high-speed flywheel stand-alone energy storage system is numerically modeled to obtain a modeling equation for the high-speed flywheel stand-alone energy storage system; a trapezoidal integral algorithm and a Taylor series algorithm are used to perform equivalent modeling numerical calculations on the modeling equation of the high-speed flywheel stand-alone energy storage system to obtain a modeling equation calculation of the high-speed flywheel stand-alone energy storage system. Results: The accuracy of the calculation results of the high-speed flywheel stand-alone energy storage system is verified in a real-time digital simulator. If the verification results are accurate, the numerical modeling of the high-speed flywheel stand-alone energy storage system is completed. The present invention can effectively simulate the operating characteristics of the high-speed flywheel system during the rotation process, and through the numerical calculation method built in the real-time digital simulator, it is possible to achieve cooperation with the built-in equivalent synchronous motor, build a usable real-time simulation test environment for the high-speed flywheel energy storage system, and provide a reference for the high-performance dynamic simulation calculation of the high-speed flywheel stand-alone energy storage. It effectively solves the problems of numerical calculation instability and complex model construction process in the process of building the simulation model, and shortens the research and development cycle of related control and protection equipment for the flywheel energy storage system.

[0112] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0116] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A numerical calculation method for a high-speed flywheel in a real-time digital simulator, characterized in that: include: Build a numerical calculation verification platform for high-speed flywheel single-machine energy storage system in a real-time digital simulator; On the high-speed flywheel single-machine energy storage system numerical calculation verification platform, based on the existing mathematical model of high-speed flywheel energy storage system array body dynamic simulation and combined with the flywheel rotation characteristics of the high-speed flywheel single-machine energy storage system, the high-speed flywheel single-machine energy storage system is numerically modeled to obtain the modeling equation of the high-speed flywheel single-machine energy storage system; The trapezoidal integral algorithm and the Taylor series algorithm are used to perform equivalent modeling numerical calculations on the modeling equations of the high-speed flywheel single-machine energy storage system, and the calculation results of the modeling equations of the high-speed flywheel single-machine energy storage system are obtained. The calculation results reflect the performance characteristics of the high-speed flywheel single-machine energy storage system.

2. The method according to claim 1, characterized in that The numerical calculation verification platform of high-speed flywheel single-machine energy storage system includes: High-speed flywheel single-machine energy storage system and converter.

3. The method according to claim 2, characterized in that The high-speed flywheel single-machine energy storage system includes a high-speed flywheel and a built-in equivalent synchronous motor, and the high-speed flywheel and the built-in equivalent synchronous motor rotate coaxially.

4. The method according to claim 1, characterized in that On the high-speed flywheel single-machine energy storage system numerical calculation verification platform, based on the existing mathematical model of high-speed flywheel energy storage system array body dynamic simulation, combined with the flywheel rotation characteristics of the high-speed flywheel single-machine energy storage system, the high-speed flywheel single-machine energy storage system is numerically modeled, and the modeling equation of the high-speed flywheel single-machine energy storage system is obtained, including: On the numerical calculation verification platform of the high-speed flywheel single-machine energy storage system, based on the existing mathematical model of the dynamic simulation of the high-speed flywheel energy storage system array body, combined with the rotational inertia, angular velocity, high-speed flywheel mechanical torque, motor electromagnetic torque and viscous friction coefficient of the high-speed flywheel, the high-speed flywheel single-machine energy storage system is numerically modeled to obtain the modeling equation of the high-speed flywheel single-machine energy storage system.

5. The method according to claim 1, characterized in that The calculation results include: The time-varying characteristics of high-speed flywheel speed and high-speed flywheel single-machine energy storage system torque in a real-time digital simulator.

6. The method according to claim 1, characterized in that The trapezoidal integral algorithm and Taylor series algorithm are used to perform equivalent modeling numerical calculations on the modeling equations of the high-speed flywheel single-machine energy storage system, and the calculation results of the modeling equations of the high-speed flywheel single-machine energy storage system are obtained, including: In the process of equivalent modeling numerical calculation of the modeling equations of the high-speed flywheel single-machine energy storage system using the trapezoidal integration algorithm and the Taylor series algorithm, the online algorithm switching is performed through the selector.

7. The method according to claim 1, characterized in that Also includes: After obtaining the calculation results of the modeling equations of the high-speed flywheel single-machine energy storage system, the accuracy of the calculation results of the high-speed flywheel single-machine energy storage system is verified in a real-time digital simulator.

8. The method according to claim 7, characterized in that Verify the accuracy of the calculation results of the high-speed flywheel single-machine energy storage system in a real-time digital simulator, including: The high-speed flywheel speed of the high-speed flywheel single-machine energy storage system is changed in a real-time digital simulator to verify the accuracy of the two numerical calculation methods, Taylor series algorithm and trapezoidal integration algorithm. And / or, changing the high-speed flywheel mechanical torque of the high-speed flywheel single-machine energy storage system in a real-time digital simulator to verify the accuracy of two numerical calculation methods, namely the Taylor series algorithm and the trapezoidal integration algorithm.

9. A numerical calculation device for a high-speed flywheel in a real-time digital simulator, characterized in that: include: The simulation verification platform building module is used to build a numerical calculation verification platform for a high-speed flywheel single-machine energy storage system in a real-time digital simulator; A modeling module is used to perform numerical modeling of a high-speed flywheel single-machine energy storage system on a high-speed flywheel single-machine energy storage system numerical calculation verification platform based on an existing mathematical model of dynamic simulation of a high-speed flywheel energy storage system array body and combined with the flywheel rotation characteristics of the high-speed flywheel single-machine energy storage system to obtain a modeling equation for the high-speed flywheel single-machine energy storage system; The calculation module is used to perform equivalent modeling numerical calculation on the modeling equation of the high-speed flywheel single-machine energy storage system using the trapezoidal integration algorithm and the Taylor series algorithm to obtain the calculation results of the modeling equation of the high-speed flywheel single-machine energy storage system, and the calculation results reflect the performance characteristics of the high-speed flywheel single-machine energy storage system.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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