Electric power equipment electromagnetic transient simulation delay compensation method and system, medium and equipment
By calculating the state characteristic roots of the equivalent circuit of the controlled source of power electronic equipment and performing delay compensation, the numerical instability caused by the delay of the controlled power supply is solved, and stable simulation of the power electronic equipment system is realized.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA ELECTRIC POWER RESEARCH INSTITUTE CO LTD
- Filing Date
- 2025-12-01
- Publication Date
- 2026-05-08
AI Technical Summary
In electromagnetic transient simulation of power electronic equipment, numerical instability is caused by the delay of the controlled power supply, which is difficult to solve effectively with existing technologies.
By obtaining the current of the equivalent circuit of the controlled source formed by the controlled voltage source, the characteristic roots of the circuit state are calculated using the delay function, and delay compensation is performed. Equivalent replacements are made using series or parallel resistors and inductors to correct the numerical instability caused by the delay.
Numerical stability of power electronic equipment systems has been achieved, distortion of simulation results has been avoided, and accurate simulation support for power electronic equipment has been provided.
Smart Images
Figure CN121995787A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of power system simulation technology, specifically relating to a method and system for delay compensation in electromagnetic transient simulation of power equipment. Background Technology
[0002] In electromagnetic transient simulation of power electronic equipment, the numerous switching elements and frequent switching operations cause topology changes that consume significant simulation resources in matrix solving. For electromagnetic transient simulation of complex power electronic equipment, a controlled power source of the Thevenin form is often used as an equivalent. However, in some cases, when using the controlled power source substitution method in power electronic equipment, the delay of the controlled source, which comes from the previous time step in the main circuit solution, may cause numerical instability. Summary of the Invention
[0003] To overcome the shortcomings of the prior art, in a first aspect, this invention application proposes a method for delay compensation in electromagnetic transient simulation of power equipment, comprising: When a controlled voltage source is introduced into the bridge arm of the power equipment, the current of the equivalent circuit of the controlled source is obtained; wherein the equivalent circuit of the controlled source replaces the capacitance of the equivalent circuit of the bridge arm's capacitance. Based on the current, the circuit state characteristic roots of the equivalent circuit of the controlled source are calculated using the delay function corresponding to the controlled voltage source. Delay compensation is performed based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit.
[0004] Preferably, the step of calculating the circuit state characteristic roots of the equivalent circuit of the controlled source based on the current and using the delay function corresponding to the controlled voltage source includes: The delay function corresponding to the controlled voltage source is converted into a first-order inertial representation state equation; The first-order inertial representation state equation and the output equation of the controlled source equivalent circuit are combined to obtain the state equation of the controlled source equivalent circuit. Based on the current and the circuit parameters of the equivalent circuit of the controlled source, the circuit state characteristic roots of the equivalent circuit of the controlled source are calculated using the state equation of the equivalent circuit of the controlled source.
[0005] Preferably, the state equation of the equivalent circuit of the controlled source satisfies the following formula:
[0006] In the above formula: τ 0 represents delay. C Let be the capacitance value of the capacitor in the equivalent circuit of the controlled source. L The inductance value is given by the equivalent circuit of the controlled source.R Let I be the resistance value in the equivalent circuit of the controlled source, I be the current value in the equivalent circuit of the controlled source, and Us be the power supply value in the equivalent circuit of the controlled source. is the first variable in the state equation of the equivalent circuit of the controlled source. It is the second variable in the state equation of the equivalent circuit of the controlled source; The first-order inertial representation of the state equation satisfies the following formula: .
[0007] Preferably, the process of obtaining the delay function includes: Obtain the initial delay function of the controlled voltage source; The initial delay function is expanded using a Laplace transform and a Taylor series to obtain the expanded delay function. The initial function is approximated to obtain the final delay function.
[0008] Preferably, the expanded delay function satisfies the following formula:
[0009] In the above formula, This is the initial delay function. For natural index, τ 0 represents delay. s Let n be a complex variable in the Laplace transform, and n be a positive integer.
[0010] Preferably, the controlled voltage source is equivalent to a series of resistors and inductors, or a parallel series of resistors and inductors.
[0011] Preferably, the process of obtaining the circuit state characteristic roots of the capacitor equivalent circuit includes: Based on Kirchhoff's laws, obtain the Kirchhoff voltage law equation for the equivalent circuit of the capacitor. The Kirchhoff voltage law equation is converted into the characteristic root equation of the capacitor equivalent circuit. Based on the circuit parameters of the capacitor equivalent circuit, the circuit state characteristic roots of the capacitor equivalent circuit are calculated using the circuit characteristic root equation.
[0012] Preferably, the circuit state characteristic roots of the capacitor equivalent circuit satisfy the following formula:
[0013] In the above formula: This is the first characteristic root of the circuit state of the capacitor equivalent circuit. R is the second characteristic root of the circuit state of the capacitor equivalent circuit, C is the resistance value of the resistor in the capacitor equivalent circuit, and L is the inductance value of the capacitor in the capacitor equivalent circuit.
[0014] Preferably, the delay compensation based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit includes: Based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit, the characteristic root deviation is calculated. The voltage source control signal is generated using the characteristic root deviation. Delay compensation is performed using the controlled voltage source and according to the control signal.
[0015] Secondly, this application also proposes an electromagnetic transient simulation delay compensation system for power equipment, comprising: A current acquisition module is used to acquire the current of the controlled source equivalent circuit formed when a controlled voltage source is introduced into the power equipment; wherein the controlled source equivalent circuit replaces the capacitance of the capacitor equivalent circuit of the bridge arm in the power equipment. The circuit state characteristic root calculation module is used to calculate the circuit state characteristic root of the equivalent circuit of the controlled source based on the current and using the delay function corresponding to the controlled voltage source. The delay compensation module is used to perform delay compensation based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit.
[0016] Preferably, the circuit state characteristic root calculation module is specifically used for: The delay function corresponding to the controlled voltage source is converted into a first-order inertial representation state equation; The first-order inertial representation state equation and the output equation of the controlled source equivalent circuit are combined to obtain the state equation of the controlled source equivalent circuit. Based on the current and the circuit parameters of the equivalent circuit of the controlled source, the circuit state characteristic roots of the equivalent circuit of the controlled source are calculated using the state equation of the equivalent circuit of the controlled source.
[0017] Preferably, the state equation of the equivalent circuit of the controlled source satisfies the following formula:
[0018] In the above formula: τ 0 represents delay. C Let be the capacitance value of the capacitor in the equivalent circuit of the controlled source. L The inductance value is given by the equivalent circuit of the controlled source. RLet I be the resistance value in the equivalent circuit of the controlled source, I be the current value in the equivalent circuit of the controlled source, and Us be the power supply value in the equivalent circuit of the controlled source. is the first variable in the state equation of the equivalent circuit of the controlled source. It is the second variable in the state equation of the equivalent circuit of the controlled source; The first-order inertial representation of the state equation satisfies the following formula: .
[0019] Preferably, the system further includes: a delay function construction module, used for: Obtain the initial delay function of the controlled voltage source; The initial delay function is expanded using a Laplace transform and a Taylor series to obtain the expanded delay function. The initial function is approximated to obtain the final delay function.
[0020] Preferably, the expanded delay function satisfies the following formula:
[0021] In the above formula, This is the initial delay function. For natural index, τ 0 represents delay. s Let n be a complex variable in the Laplace transform, and n be a positive integer.
[0022] Preferably, the controlled voltage source is equivalent to a series of resistors and inductors, or a parallel series of resistors and inductors.
[0023] Preferably, the system further includes: a circuit state characteristic root acquisition module for the capacitor equivalent circuit, used for: Based on Kirchhoff's laws, obtain the Kirchhoff voltage law equation for the equivalent circuit of the capacitor. The Kirchhoff voltage law equation is converted into the characteristic root equation of the capacitor equivalent circuit. Based on the circuit parameters of the capacitor equivalent circuit, the circuit state characteristic roots of the capacitor equivalent circuit are calculated using the circuit characteristic root equation.
[0024] Preferably, the circuit state characteristic roots of the capacitor equivalent circuit satisfy the following formula:
[0025] In the above formula: This is the first characteristic root of the circuit state of the capacitor equivalent circuit. R is the second characteristic root of the circuit state of the capacitor equivalent circuit, C is the resistance value of the resistor in the capacitor equivalent circuit, and L is the inductance value of the capacitor in the capacitor equivalent circuit.
[0026] Preferably, the delay compensation module is specifically used for: Based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit, the characteristic root deviation is calculated. The voltage source control signal is generated using the characteristic root deviation. Delay compensation is performed using the controlled voltage source and according to the control signal.
[0027] Thirdly, this application also proposes an electronic device, comprising: at least one processor and a memory; wherein the memory and the processor are connected via a bus; The memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, the electromagnetic transient simulation delay compensation method for power equipment is implemented.
[0028] Fourthly, this application also proposes a readable storage medium having an executable program stored thereon, wherein when the executable program is executed, it implements the aforementioned method for electromagnetic transient simulation delay compensation of power equipment.
[0029] Compared with the closest prior art, the present invention application has the following beneficial effects: This invention discloses a method, system, medium, and device for delay compensation in electromagnetic transient simulation of power equipment. The method includes: acquiring the current of the equivalent circuit of the controlled source formed when a controlled voltage source is introduced into a bridge arm of the power equipment; wherein the equivalent circuit of the controlled source equivalents the capacitance of the equivalent circuit of the bridge arm's capacitance; calculating the circuit state characteristic roots of the equivalent circuit of the controlled source based on the current and using the delay function corresponding to the controlled voltage source; and performing delay compensation based on the circuit state characteristic roots of the equivalent circuit of the controlled source and the acquired circuit state characteristic roots of the equivalent capacitor circuit. By obtaining the circuit state characteristic roots of the equivalent circuit of the controlled source according to the current and the corresponding delay function, and then simulating the controlled voltage source based on the circuit state characteristic roots of the equivalent circuit of the controlled source and the equivalent capacitor circuit, the method can compensate for the time step delay in the power electronic equipment, ensuring the numerical stability of the power electronic equipment system. Attached Figure Description
[0030] Figure 1 A flowchart of a method for electromagnetic transient simulation delay compensation of power equipment provided in this invention application; Figure 2The equivalent circuit diagram of the bridge arm capacitance in the electromagnetic transient simulation delay compensation method for power equipment provided in this invention application; Figure 3 The equivalent circuit diagram of the controlled source in the electromagnetic transient simulation delay compensation method for power equipment provided in this application of the present invention; Figure 4 Equivalent circuit diagram of a first-order inertial element in an electromagnetic transient simulation delay compensation method for power equipment provided in this invention application; Figure 5 The characteristic root locus of τ0 as it increases from 0 to infinity in the electromagnetic transient simulation delay compensation method for power equipment provided in this invention application; Figure 6 In the electromagnetic transient simulation of the delay compensation method for electromagnetic transient simulation of power equipment provided in this application, voltage and current simulation are performed. Figure 1 ; Figure 7 In the electromagnetic transient simulation of the delay compensation method for electromagnetic transient simulation of power equipment provided in this application, voltage and current simulation are performed. Figure 2 ; Figure 8 A circuit diagram of a single capacitor branch in an electromagnetic transient simulation delay compensation method for power equipment provided in this invention application; Figure 9 The equivalent element of the controlled voltage source is a specific example of a delay compensation method for electromagnetic transient simulation of power equipment provided in this invention application; Figure 10 This invention application provides a specific use case for adding compensation elements to the simulation of an electromagnetic transient simulation delay compensation method for power equipment. Figure 1 ; Figure 11 This invention application provides a specific use case for adding compensation elements to the simulation of an electromagnetic transient simulation delay compensation method for power equipment. Figure 2 ; Figure 12 This invention application provides an architecture diagram of a method for compensating delays in electromagnetic transient simulation of power equipment. Figure 13 This is a schematic diagram of the operation of an electronic device provided in this invention application. Detailed Implementation
[0031] The specific embodiments of this invention will be further described in detail below with reference to the accompanying drawings.
[0032] Example 1: like Figure 1 As shown, this invention application proposes a method for delay compensation in electromagnetic transient simulation of power equipment, which may include the following steps: Step 1: Obtain the current of the controlled source equivalent circuit formed when the controlled voltage source is introduced into the bridge arm of the power equipment; wherein, the controlled source equivalent circuit replaces the capacitance of the capacitor equivalent circuit of the bridge arm. Step 2: Based on the current, use the delay function corresponding to the controlled voltage source to calculate the circuit state characteristic roots of the equivalent circuit of the controlled source; Step 3: Perform delay compensation based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit.
[0033] In step 1 above, such as Figure 2 As shown, the equivalent circuit of the bridge arm's capacitance can be, for a power electronic equipment (Modular Multilevel Converter) circuit, the equivalent circuit of one bridge arm in one phase; for the equivalent circuit of capacitance, with the current I as the state variable, the circuit KVL (Kirchhoff's Voltage Law) equations are written: (1); In formula (1), L It is the inductance value of the inductor in the capacitor equivalent circuit. I It is the current in the capacitor equivalent circuit. R It is the resistance value in the capacitor's equivalent circuit. C It is the capacitance value of the capacitor in the capacitor equivalent circuit. U s It is the power supply value in the capacitor equivalent circuit. t It is a time variable. This is the time integration variable.
[0034] In step 1 above, the process of obtaining the circuit state characteristic roots of the capacitor equivalent circuit includes: Step A: Obtain the Kirchhoff voltage law equation for the equivalent circuit of the capacitor according to Kirchhoff's laws; Step B: Convert the Kirchhoff voltage law equation into the circuit characteristic root equation of the capacitor equivalent circuit; Step C: Based on the circuit parameters of the capacitor equivalent circuit, calculate the circuit state characteristic roots of the capacitor equivalent circuit using the circuit characteristic root equation.
[0035] In step C above, the circuit state characteristic roots of the capacitor equivalent circuit satisfy the following formula: (2); In the above formula: This is the first characteristic root of the circuit state of the capacitor equivalent circuit. R is the second characteristic root of the circuit state of the capacitor equivalent circuit, C is the resistance value of the resistor in the capacitor equivalent circuit, and L is the inductance value of the capacitor in the capacitor equivalent circuit.
[0036] Based on a typical MMC topology, given a set of parameters: R=0.02Ω, L=5mH, C=230μF, substituting these parameters into formula (2), we can obtain the corresponding eigenvalues as follows: ;in, , .
[0037] As mentioned above, the capacitor can be represented as the capacitor in power electronic equipment, such as in an MMC topology. Since directly solving for an MMC topology is very complex, the equivalent circuit of the capacitor is represented by an equivalent circuit, allowing the power electronic equipment to be solved separately. This manifests as a controlled voltage source in the circuit. The equivalent circuit for representing the capacitor as a controlled voltage source is as follows: Figure 3 As shown, U c It is the voltage value of the equivalent capacitance of the controlled voltage source.
[0038] The process of obtaining the delay function in step 2 above includes: Step a: Obtain the initial delay function of the controlled voltage source; Step b: Apply the Laplace transform to the initial delay function and expand it using Taylor series to obtain the expanded delay function; Step c: Approximate the expanded initial function to obtain the final delay function.
[0039] The aforementioned expanded delay function satisfies the following formula: (3); In the above formula, This is the initial delay function. For natural index, τ 0 represents delay. s Let n be a complex variable in the Laplace transform, and n be a positive integer.
[0040] When delayed τ When 0 is sufficiently small, the final delay function can be approximated. That is, when the delay is sufficiently small, a first-order inertial element can be used to replace the delay element, such as... Figure 4 As shown; In step 2 above, the step of calculating the circuit state characteristic roots of the equivalent circuit of the controlled source based on the current and using the delay function corresponding to the controlled voltage source may include the following steps: Step 2.1: Convert the delay function corresponding to the controlled voltage source into a first-order inertial representation state equation; Step 2.2: Combine the first-order inertial representation state equation and the output equation of the controlled source equivalent circuit to obtain the controlled source equivalent circuit state equation; Step 2.3: Based on the current and the circuit parameters of the controlled source equivalent circuit, calculate the circuit state characteristic roots of the controlled source equivalent circuit using the state equation of the controlled source equivalent circuit.
[0041] In step 2.3 above, the first-order inertial representation state equation satisfies the following formula: (4); The output equation of the controlled source equivalent circuit is: (5); The state equations of the equivalent circuit of the controlled source (formulas 4 and 5 combined) satisfy the following formula: (6); In the above formula: τ 0 represents delay. C Let be the capacitance value of the capacitor in the equivalent circuit of the controlled source. L The inductance value is given by the equivalent circuit of the controlled source. R Let I be the resistance value in the equivalent circuit of the controlled source, I be the current value in the equivalent circuit of the controlled source, and Us be the power supply value in the equivalent circuit of the controlled source. is the first variable in the state equation of the equivalent circuit of the controlled source. The second variable is the state equation of the equivalent circuit of the controlled source. The first and second variables of the state equation of the equivalent circuit of the controlled source can be equivalent to the circuit state characteristic roots of the equivalent circuit of the controlled source.
[0042] In calculating the circuit state characteristic roots of the equivalent circuit of the controlled source, we take R=0.02Ω, L=5mH, and C=230μF as an example. Figure 5 As shown, the Root Locus represents the root locus, the horizontal axis represents the real part of the eigenvalues, and the vertical axis represents the imaginary part of the eigenvalues. The eigenvalue locus can be obtained as τ0 increases from 0 to infinity. The figure also marks the time delay. τ The locations of eigenvalues at 0=0, 100μs, 200μs... When... τ At 0 = 50 μs, the circuit state characteristic roots of the equivalent circuit of the controlled source are obtained as follows: The characteristic roots of the circuit state of the capacitor equivalent circuit are: In electromagnetic transient simulation, such as Figure 6-7As shown, the voltage and current during simulation are as follows. It can be observed that because the real part of the eigenvalue is positive, the voltage and current gradually diverge. Therefore, the method of this invention... In the electromagnetic transient simulation calculation of power electronic equipment, a controlled voltage source is used to represent the capacitance in the power electronic equipment topology. With this representation method, since the control system and the circuit system are solved separately, there is a delay. The existence of this delay changes the eigenvalue of the circuit. That is to say, this equivalent method is not completely equivalent to the previous capacitor equivalent circuit. In order to make this controlled source equivalent circuit the same as the original capacitor equivalent circuit, this delay compensation method is studied.
[0043] Step 3 above, the delay compensation based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit, includes: Step 3.1: Calculate the characteristic root deviation based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit; Step 3.2: Utilize the aforementioned characteristic root deviation to generate a voltage source control signal; Step 3.3: Using the controlled voltage source, perform delay compensation according to the control signal.
[0044] The aforementioned controlled voltage source can be equivalent to a series of resistors and inductors, or a parallel series of resistors and inductors.
[0045] In the equivalent simulation, the delay function corresponding to the controlled voltage source is expanded using Taylor series. The expanded delay function is then represented by equations that are equivalent to circuit elements. This allows for the correction of the delay by connecting additional equivalent circuit elements (resistors and inductors) in series and parallel with the delayed controlled voltage source. By representing the controlled voltage source as an equivalent series-parallel connection of these additional elements, the numerical instability caused by the delay is avoided. Implementing delay compensation can prevent numerical instability problems when using the controlled voltage source substitution method to simulate power electronic equipment, providing technical support for the accurate simulation of power electronic equipment.
[0046] To illustrate the method of this invention, a specific example is given below: A compensation and optimization method was researched to address the simulation oscillation divergence problem caused by the aforementioned delay. For example... Figure 8 The circuit shown is composed of a single capacitor branch, which is used as the simulation object. The capacitor is equivalently expanded; the capacitor is a current integrator, and the voltage across the capacitor is proportional to the integral of the current over time (Kirchhoff's voltage law equation) as follows: (7); In formula (7), The voltage across the capacitor. This is the current flowing through the capacitor; Using the Laplace transform, it can be written as a complex frequency domain equation as follows: (8); If a controlled voltage source is used to replace the capacitor in the simulation, a delay τ0 will inevitably occur in the current value, causing the current value to change. The time-domain equation after replacing the capacitor with a controlled voltage source is: (9); The complex frequency domain equation after replacing the capacitor with a controlled voltage source is: (10); in, The voltage of the controlled voltage source; The following will transform formula (10) into formula (8) by means of equivalent compensation.
[0047] First, change the denominator of formula (10) to... Expanding to order n using Taylor series, we further obtain: (11); Therefore, we have: (12); Considering complex frequency domain current The time-domain form is Formula (12) can be written as a time-domain equation and rearranged as follows: (13); At this time, the output voltage of the capacitor-equivalent controlled voltage source It can be considered as the delay current value The function is given by equation (13). It can be seen that the first term in equation (13) is the voltage represented by the controlled voltage source, and the second term can be represented by a voltage of magnitude [missing value]. The resistance is represented by the third term, which is expressed in terms of magnitude. The inductance is represented by three terms: the controlled voltage source is equivalent to a series resistor and inductor, or a parallel resistor and inductor; or the equivalent replacement of the controlled voltage source with series or parallel resistors or inductors.
[0048] The characteristic roots of the capacitor equivalent circuit are calculated according to the method of this invention. Use compensation resistor and compensating inductance After adding compensation components, the characteristic roots of the circuit are: The characteristic roots of the two are basically similar. An example circuit with compensation components added is shown below. Figure 9 As shown, the simulation results after compensation are as follows: Figure 10 , Figure 11 As shown, from Figure 10-11 As can be seen from the data, after adding the compensation element, the voltage and current of the circuit are controlled within a stable range, and there is no delay.
[0049] In summary, for power electronic equipment systems, the introduction of delay leads to changes in the system's characteristic values, causing distortion in simulation results. This invention addresses this issue by: 1. Compensating for delays in the equivalent controlled source simulation of electromagnetic transients of power electronic equipment using simple series-parallel circuit elements; and 2. Using Taylor series expansion and series-parallel elements to compensate for numerical instability caused by delays in the controlled power source substitution method for power electronic electromagnetic transient simulations. The parameters of the compensation elements can be calculated using formulas, providing a clear theoretical basis and achieving good compensation results. The delay compensation method proposed in this invention results in equivalent circuit characteristic roots that closely approximate the characteristic roots of the power electronic equipment system, reflecting the close approximation of the circuit state after compensation.
[0050] Example 2: like Figure 12 As shown, the present invention also provides an electromagnetic transient simulation delay compensation system for power equipment, comprising: A current acquisition module is used to acquire the current of the controlled source equivalent circuit formed when a controlled voltage source is introduced into the power equipment; wherein the controlled source equivalent circuit replaces the capacitance of the capacitor equivalent circuit of the bridge arm in the power equipment. The circuit state characteristic root calculation module is used to calculate the circuit state characteristic root of the equivalent circuit of the controlled source based on the current and using the delay function corresponding to the controlled voltage source. The delay compensation module is used to perform delay compensation based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit.
[0051] Furthermore, the circuit state characteristic root calculation module is specifically used for: The delay function corresponding to the controlled voltage source is converted into a first-order inertial representation state equation; The first-order inertial representation state equation and the output equation of the controlled source equivalent circuit are combined to obtain the state equation of the controlled source equivalent circuit. Based on the current and the circuit parameters of the equivalent circuit of the controlled source, the circuit state characteristic roots of the equivalent circuit of the controlled source are calculated using the state equation of the equivalent circuit of the controlled source.
[0052] Furthermore, the state equation of the equivalent circuit of the controlled source satisfies the following formula:
[0053] In the above formula: τ 0 represents delay. CLet be the capacitance value of the capacitor in the equivalent circuit of the controlled source. L The inductance value is given by the equivalent circuit of the controlled source. R Let I be the resistance value in the equivalent circuit of the controlled source, I be the current value in the equivalent circuit of the controlled source, and Us be the power supply value in the equivalent circuit of the controlled source. is the first variable in the state equation of the equivalent circuit of the controlled source. It is the second variable in the state equation of the equivalent circuit of the controlled source; The first-order inertial representation of the state equation satisfies the following formula: .
[0054] Furthermore, the system also includes: a delay function construction module, used for: Obtain the initial delay function of the controlled voltage source; The initial delay function is expanded using a Laplace transform and a Taylor series to obtain the expanded delay function. The initial function is approximated to obtain the final delay function.
[0055] Furthermore, the expanded delay function satisfies the following formula:
[0056] In the above formula, This is the initial delay function. For natural index, τ 0 represents delay. s Let n be a complex variable in the Laplace transform, and n be a positive integer.
[0057] Furthermore, the controlled voltage source is equivalent to a series of resistors and inductors, or a parallel series of resistors and inductors.
[0058] Furthermore, the system further includes: a module for obtaining the circuit state characteristic roots of the capacitor equivalent circuit, used for: Based on Kirchhoff's laws, obtain the Kirchhoff voltage law equation for the equivalent circuit of the capacitor. The Kirchhoff voltage law equation is converted into the characteristic root equation of the capacitor equivalent circuit. Based on the circuit parameters of the capacitor equivalent circuit, the circuit state characteristic roots of the capacitor equivalent circuit are calculated using the circuit characteristic root equation.
[0059] Furthermore, the circuit state characteristic roots of the capacitor equivalent circuit satisfy the following formula:
[0060] In the above formula: This is the first characteristic root of the circuit state of the capacitor equivalent circuit. R is the second characteristic root of the circuit state of the capacitor equivalent circuit, C is the resistance value of the resistor in the capacitor equivalent circuit, and L is the inductance value of the capacitor in the capacitor equivalent circuit.
[0061] Furthermore, the delay compensation module is specifically used for: Based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit, the characteristic root deviation is calculated. The voltage source control signal is generated using the characteristic root deviation. Delay compensation is performed using the controlled voltage source and according to the control signal.
[0062] Example 3: like Figure 13 As shown, the present invention also provides an electronic device, which may be a computer device, a microcontroller device, a smart mobile device, etc. The electronic device in this embodiment may include a processor, a memory, a transceiver component, etc. The memory, processor, and transceiver component are connected via a bus; the memory can be used to store executable programs, and an exemplary executable program may include instructions; the processor is used to execute the instructions stored in the memory. The memory can also be used to store data, which can be accessed and / or modified when instructions are executed.
[0063] The processor may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, and it is suitable for implementing one or more instructions. Specifically, it is suitable for loading and executing one or more instructions in the storage medium to realize the corresponding method flow or corresponding function, so as to realize the steps of the electromagnetic transient simulation delay compensation method for power equipment in the above embodiments.
[0064] Example 4: Based on the same inventive concept, this invention also provides a readable storage medium, specifically an electronic device readable storage medium (Memory). This readable storage medium is a memory device within an electronic device used to store programs and data. It is understood that the storage medium here can include both built-in storage media within the electronic device and extended storage media supported by the electronic device. The storage medium provides storage space, which stores the terminal's operating system. Furthermore, this storage space also stores one or more instructions suitable for loading and execution by a processor. These instructions can be one or more executable programs (including program code). It should be noted that the storage medium here can be high-speed RAM or non-volatile memory, such as at least one disk storage device. Loading and executing one or more instructions stored in the storage medium by the processor can implement the steps of the electromagnetic transient simulation delay compensation method for power equipment described in the above embodiments.
[0065] Those skilled in the art will understand that embodiments of this invention can be provided as methods, systems, or computer program products. Therefore, this invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this invention can take the form of a computer program product embodied 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.
[0066] This invention application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0067] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The function specified in one or more boxes.
[0068] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit its protection scope. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading the present invention, they can still make various changes, modifications or equivalent substitutions to the specific implementation of the application, but these changes, modifications or equivalent substitutions are all within the protection scope of the claims pending approval.
Claims
1. A method for delay compensation in electromagnetic transient simulation of power equipment, characterized in that, include: When a controlled voltage source is introduced into the bridge arm of the power equipment, the current of the equivalent circuit of the controlled source is obtained; wherein the equivalent circuit of the controlled source replaces the capacitance of the equivalent circuit of the bridge arm's capacitance. Based on the current, the circuit state characteristic roots of the equivalent circuit of the controlled source are calculated using the delay function corresponding to the controlled voltage source. Delay compensation is performed based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit.
2. The method according to claim 1, characterized in that, The step of calculating the circuit state characteristic roots of the equivalent circuit of the controlled source based on the current and using the delay function corresponding to the controlled voltage source includes: The delay function corresponding to the controlled voltage source is converted into a first-order inertial representation state equation; The first-order inertial representation state equation and the output equation of the controlled source equivalent circuit are combined to obtain the state equation of the controlled source equivalent circuit. Based on the current and the circuit parameters of the equivalent circuit of the controlled source, the circuit state characteristic roots of the equivalent circuit of the controlled source are calculated using the state equation of the equivalent circuit of the controlled source.
3. The method according to claim 2, characterized in that, The state equation of the equivalent circuit of the controlled source satisfies the following formula: In the above formula: τ 0 represents delay. C Let be the capacitance value of the capacitor in the equivalent circuit of the controlled source. L The inductance value is given by the equivalent circuit of the controlled source. R Let I be the resistance value in the equivalent circuit of the controlled source, I be the current value in the equivalent circuit of the controlled source, and Us be the power supply value in the equivalent circuit of the controlled source. The first variable in the state equation of the equivalent circuit of the controlled source is denoted as . It is the second variable in the state equation of the equivalent circuit of the controlled source; The first-order inertial representation of the state equation satisfies the following formula: 。 4. The method according to claims 1-3, characterized in that, The process of obtaining the delay function includes: Obtain the initial delay function of the controlled voltage source; The initial delay function is expanded using a Laplace transform and a Taylor series to obtain the expanded delay function. The initial function is approximated to obtain the final delay function.
5. The method according to claim 4, characterized in that, The expanded delay function satisfies the following formula: In the above formula, This is the initial delay function. For natural index, τ 0 represents delay. s Let n be a complex variable in the Laplace transform, and n be a positive integer.
6. The method according to claim 1, characterized in that, The controlled voltage source is equivalent to a series of resistors and inductors, or a series of resistors and inductors.
7. The method according to claim 1, characterized in that, The process of obtaining the circuit state characteristic roots of the capacitor equivalent circuit includes: Based on Kirchhoff's laws, obtain the Kirchhoff voltage law equation for the equivalent circuit of the capacitor. The Kirchhoff voltage law equation is converted into the characteristic root equation of the capacitor equivalent circuit. Based on the circuit parameters of the capacitor equivalent circuit, the circuit state characteristic roots of the capacitor equivalent circuit are calculated using the circuit characteristic root equation.
8. The method according to claim 7, characterized in that, The circuit state characteristic roots of the capacitor equivalent circuit satisfy the following formula: In the above formula: This is the first characteristic root of the circuit state of the capacitor equivalent circuit. R is the second characteristic root of the circuit state of the capacitor equivalent circuit, C is the resistance value of the resistor in the capacitor equivalent circuit, and L is the inductance value of the capacitor in the capacitor equivalent circuit.
9. The method according to claim 1, characterized in that, The delay compensation based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit includes: Based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit, the characteristic root deviation is calculated. The voltage source control signal is generated using the characteristic root deviation. Delay compensation is performed using the controlled voltage source and according to the control signal.
10. A power equipment electromagnetic transient simulation delay compensation system, characterized in that, include: A current acquisition module is used to acquire the current of the controlled source equivalent circuit formed when a controlled voltage source is introduced into the power equipment; wherein the controlled source equivalent circuit replaces the capacitance of the capacitor equivalent circuit of the bridge arm in the power equipment. The circuit state characteristic root calculation module is used to calculate the circuit state characteristic root of the equivalent circuit of the controlled source based on the current and using the delay function corresponding to the controlled voltage source. The delay compensation module is used to perform delay compensation based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit.
11. The system according to claim 10, characterized in that, The circuit state characteristic root calculation module is specifically used for: The delay function corresponding to the controlled voltage source is converted into a first-order inertial representation state equation; The first-order inertial representation state equation and the output equation of the controlled source equivalent circuit are combined to obtain the state equation of the controlled source equivalent circuit. Based on the current and the circuit parameters of the equivalent circuit of the controlled source, the circuit state characteristic roots of the equivalent circuit of the controlled source are calculated using the state equation of the equivalent circuit of the controlled source.
12. The system according to claim 11, characterized in that, The state equation of the equivalent circuit of the controlled source satisfies the following formula: In the above formula: τ 0 represents delay. C Let be the capacitance value of the capacitor in the equivalent circuit of the controlled source. L The inductance value is given by the equivalent circuit of the controlled source. R Let I be the resistance value in the equivalent circuit of the controlled source, I be the current value in the equivalent circuit of the controlled source, and Us be the power supply value in the equivalent circuit of the controlled source. The first variable in the state equation of the equivalent circuit of the controlled source is denoted as . It is the second variable in the state equation of the equivalent circuit of the controlled source; The first-order inertial representation of the state equation satisfies the following formula: 。 13. The system according to any one of claims 10-12, characterized in that, Also includes: The delay function building module is used for: Obtain the initial delay function of the controlled voltage source; The initial delay function is expanded using a Laplace transform and a Taylor series to obtain the expanded delay function. The initial function is approximated to obtain the final delay function.
14. The system according to claim 13, characterized in that, The expanded delay function satisfies the following formula: In the above formula, This is the initial delay function. For natural index, τ 0 represents delay. s Let n be a complex variable in the Laplace transform, and n be a positive integer.
15. The system according to claim 10, characterized in that, The controlled voltage source is equivalent to a series of resistors and inductors, or a series of resistors and inductors.
16. The system according to claim 10, characterized in that, Also includes: The circuit state characteristic root acquisition module for the capacitor equivalent circuit is used for: Based on Kirchhoff's laws, obtain the Kirchhoff voltage law equation for the equivalent circuit of the capacitor. The Kirchhoff voltage law equation is converted into the characteristic root equation of the capacitor equivalent circuit. Based on the circuit parameters of the capacitor equivalent circuit, the circuit state characteristic roots of the capacitor equivalent circuit are calculated using the circuit characteristic root equation.
17. The system according to claim 16, characterized in that, The circuit state characteristic roots of the capacitor equivalent circuit satisfy the following formula: In the above formula: This is the first characteristic root of the circuit state of the capacitor equivalent circuit. R is the second characteristic root of the circuit state of the capacitor equivalent circuit, C is the resistance value of the resistor in the capacitor equivalent circuit, and L is the inductance value of the capacitor in the capacitor equivalent circuit.
18. The system according to claim 10, characterized in that, The delay compensation module is specifically used for: Based on the circuit state characteristic roots of the controlled source equivalent circuit and the obtained circuit state characteristic roots of the capacitor equivalent circuit, the characteristic root deviation is calculated. The voltage source control signal is generated using the characteristic root deviation. Delay compensation is performed using the controlled voltage source and according to the control signal.
19. An electronic device, characterized in that, include: At least one processor and memory; The memory and processor are connected via a bus; The memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, the method for delay compensation of electromagnetic transient simulation of power equipment as described in any one of claims 1-9 is implemented.
20. A readable storage medium, characterized in that, It contains an execution program, which, when executed, implements the electromagnetic transient simulation delay compensation method for power equipment as described in any one of claims 1 to 9.