Multi-machine synchronous output large-scale relay protection simulation test debugging system

Abstract

The application discloses a large-scale relay protection simulation test debugging system of multi-machine synchronous output, comprising a synchronous control module, a multi-machine simulation module, a data cooperation module, a closed-loop verification module, an integrated management and control module and a plurality of relay protection test terminals. The application controls the multi-machine synchronization error within 10 nanoseconds through the precise time synchronization and dynamic compensation mechanism of the synchronous control module, avoids waveform time mark dislocation and amplitude and phase mismatch, and supports the relay protection test of strict time sequence requirements. The data cooperation module realizes the uniformity of multi-source data format, time mark synchronization and unified management, guarantees traceable and sedimentary fault data, and improves data cooperation efficiency. The closed-loop verification module builds a real-time closed loop, realizes automatic quantitative evaluation of protection action and dynamic optimization of test parameters, replaces manual interpretation, improves test efficiency and accuracy, and, combined with the fault diagnosis and linkage function of the integrated management and control module, guarantees long-term stable operation of the system.

Description

Technical Field

[0001] This invention relates to the field of relay protection technology, and in particular to a large-scale relay protection simulation test and debugging system with multi-machine synchronous output. Background Technology

[0002] As new power systems develop towards high-proportion renewable energy, AC / DC hybrid systems, and multi-terminal flexible DC systems, the simulation testing and commissioning of large-scale relay protection devices place stringent demands on the accuracy of multi-machine synchronous output, data coordination capabilities, and closed-loop verification levels. Existing large-scale relay protection simulation testing and commissioning systems with multi-machine synchronous output have many shortcomings, with the core related issues concentrated in three aspects: The synchronization accuracy of multiple machines is low. Multiple machines rely on NTP, ordinary PTP or GPS for time synchronization. Affected by crystal oscillator drift, network jitter and link asymmetry, the synchronization error can reach the level of microseconds to tens of microseconds. Moreover, long-term operation can easily accumulate deviations, resulting in misalignment of time scale and amplitude and phase mismatch of the output waveform of multiple machines. It cannot support tests with strict requirements for timing consistency, such as longitudinal differential and wide area protection. Multi-source data collaboration is difficult. The formats of multi-machine output data, protection device action data, and waveform recording data are not uniform and the time scales are not synchronized. There is a lack of a unified data management platform, making it difficult to achieve joint analysis of waveforms, timing, and logic. Fault data cannot be effectively traced and stored. The closed-loop verification capability is weak. Existing systems mostly adopt the "open-loop injection + manual interpretation" mode, which lacks automatic quantitative evaluation of the timing and coordination of protection actions. It cannot achieve real-time closed-loop "simulation output → protection action → feedback correction → iterative optimization", resulting in low test efficiency and strong subjectivity of results. In light of the above, there is an urgent need to design a multi-machine synchronous output simulation test and debugging system that can simultaneously solve the above three related problems. Therefore, this application proposes a large-scale relay protection simulation test and debugging system with multi-machine synchronous output. Summary of the Invention

[0003] Based on the technical problems existing in the background technology, this invention proposes a large-scale relay protection simulation test and debugging system with multi-machine synchronous output.

[0004] The large-scale relay protection simulation test and debugging system with multi-machine synchronous output proposed in this invention includes a synchronization control module, a multi-machine simulation module, a data collaboration module, a closed-loop verification module, an integrated management and control module, and several relay protection test terminals. The synchronization control module, the multi-machine simulation module, the data collaboration module, and the closed-loop verification module are all connected to the integrated management and control module. The output end of the multi-machine simulation module is connected to the relay protection test terminal, the output end of the relay protection test terminal is connected to the data collaboration module, the data collaboration module is connected to the closed-loop verification module, and the closed-loop verification module is connected to the synchronization control module and the multi-machine simulation module. The synchronization control module is used to provide a high-precision clock reference, dynamically correct the synchronization deviation of multiple machines, and realize the time standardization of the output data of multiple machines. The multi-machine simulation module generates large-scale power grid fault simulation signals based on a synchronous clock reference and outputs them to the relay protection test terminal. The data collaboration module is used to collect multi-source data, perform standardized processing and unified storage, and realize time-stamped synchronization and collaborative management of multi-source data. The closed-loop verification module automatically quantifies and evaluates relay protection actions based on synchronized multi-source data, generates feedback correction commands, and optimizes synchronization accuracy and simulation parameters. The integrated management and control module is used to realize integrated management of system parameter configuration, test process control, fault diagnosis and report generation; The relay protection test terminal is used to receive simulation signals, simulate the operating status of the relay protection device, and output action feedback data.

[0005] Preferably, the synchronization control module includes a high-precision clock source, a synchronization compensation unit, and a time scale calibration unit. The high-precision clock source adopts the BeiDou + PTP IEEE 1588-2008 precision time synchronization protocol and, combined with a temperature-controlled crystal oscillator, provides a nanosecond-level clock reference. The synchronization compensation unit is used to collect the clock offset and network transmission delay of each simulation node in real time, dynamically calculate the compensation value based on the least squares algorithm, and correct the clock of each simulation node in real time. The synchronization compensation unit uses an STM32H743 microcontroller as the control core, with a sampling frequency of 100Hz, a sliding window of N=30, and a goodness of fit R2≥0.99. Its specific operating logic is as follows: S101: Bidirectional Message Interaction and Raw Data Acquisition: The synchronization compensation unit and the i-th simulation node engage in bidirectional message interaction based on the PTP IEEE 1588-2008 protocol, sequentially completing the transmission of Sync messages and the interaction of Delay_Resp response messages, and acquiring the time stamp group: This provides raw data for subsequent calculations; S102: Initial Calculation of Clock Offset and Transmission Delay: Based on the time scale group obtained in S101, the estimated values ​​of bidirectional total transmission delay, unidirectional fixed transmission delay, and instantaneous clock offset are calculated. The formulas used are as follows: Bidirectional Total Transmission Delay: ; in The total bidirectional transmission delay between the master node and the i-th slave node. The local clock time at which the master node sends the Sync message. Let i be the local clock time when the i-th slave node receives the Sync message. The local clock time at which the i-th slave node sends the Delay_Resp response message. The local clock time at which the master node receives the Delay_Resp response message; One-way fixed transmission delay estimate: ; in Let N represent the estimated one-way fixed transmission delay between the i-th slave node and the master node, and N be the amount of sampled data within the sliding window. The total bidirectional transmission delay for the k-th sample; Instantaneous clock offset: ; in The instantaneous clock offset for the k-th sample; S103: Dynamic Drift Fitting Based on Least Squares Algorithm: A linear drift model of clock offset is established, an objective function is constructed, and the optimal parameters are solved to obtain the optimal clock offset. The formulas used are as follows: Linear Drift Model: ; in The intercept of the linear drift model. Let be the slope of the linear drift model, and k be the sampling time within the sliding window. For fitting residuals; Least squares objective function: ; in The objective function is the least squares function. Solving for optimal parameters: , ; in , These are the least squares optimal parameters. The covariance between the sampling time and the instantaneous clock offset. The variance at the sampling time point, This represents the average instantaneous clock offset. This represents the average value at each sampling time. Optimal clock offset: ; in The optimal clock offset for the current sampling time. This is the current sampling time; S104: Real-time correction command issuance and clock synchronization: Calculate the correction amount based on the optimal clock offset, adjust the local clock of the slave node, and iterate through S101-S104 at a fixed sampling period to ensure that the multi-machine synchronization error is ≤10ns. The formula used is: Clock correction amount: ; in This is the clock correction amount for the i-th slave node. This represents the current local clock time of the i-th slave node; Clock adjustment: ; in Let i be the local clock time after correction of the i-th slave node; The time-stamping calibration unit performs unified time-stamping encapsulation on analog and digital data output from multiple machines.

[0006] Preferably, the multi-machine simulation module includes several distributed simulation nodes. Each simulation node has a built-in FPGA real-time processing unit and a DA conversion unit. The FPGA real-time processing unit generates a large-scale power grid fault simulation model based on a synchronous clock reference and outputs simulation signals. The DA conversion unit uses a high-precision DA converter, combined with signal conditioning circuitry, to ensure the amplitude and phase consistency of the output waveform, with a harmonic distortion rate of less than 0.5%. The high-precision DA converter uses a resolution of 16 bits or higher and a sampling frequency of [missing information]. The signal conditioning circuit uses a low-noise operational amplifier to meet the signal requirements of large-scale relay protection simulation tests. The operation logic steps of the multi-machine simulation module are as follows: S201: The FPGA real-time processing unit is initialized, receives the nanosecond-level synchronization clock reference issued by the synchronization control module, locks the clock synchronization signal, and ensures that its own running sequence is strictly consistent with the system synchronization clock, so as to provide a timing basis for the subsequent simulation model generation. S202: The FPGA real-time processing unit is based on a synchronous clock reference, loads a large-scale power grid fault simulation model, calculates the voltage and current simulation data under fault conditions, generates a digital simulation signal D(k), and outputs it to the DA conversion unit. S203: The DA conversion unit starts the high-precision DA converter to convert the digital simulation signal D(k) output by the FPGA into an analog signal. The conversion formula is as follows: Simultaneously, the output signal phase is calibrated based on a synchronous clock reference to ensure phase consistency across all simulation nodes. The phase calibration formula is as follows: ; in Here, N is the reference voltage for the DA converter, and N is the resolution of the DA converter. The amplitude of the analog signal output by the DA converter. The phase of the analog signal output from the DA converter. The reference phase corresponding to the synchronous clock reference. This is due to phase deviation; S204: The analog signal undergoes amplitude calibration and filtering / noise reduction processing via a signal conditioning circuit. The conditioning formula is as follows: The final output is a simulated signal that meets the requirements. Its harmonic distortion rate is checked using the following formula to ensure that THD < 0.5%. The check formula is: ; in Harmonic distortion rate, The amplitude of the fundamental signal. The amplitude of the 2nd to nth harmonic signals is given by G, where G is the gain of the signal conditioning circuit. This represents the DC offset of the signal conditioning circuit.

[0007] Preferably, the data collaboration module includes a data acquisition unit, a data standardization unit, and a unified data storage unit. The data acquisition unit is used to acquire multi-machine simulation output data, relay protection action feedback data, and field waveform recording data in real time. The data standardization unit is based on the IEC 61850 standard and performs format unification and time synchronization processing on multi-source data. The unified data storage unit adopts a distributed database to classify and store standardized data and establish a data traceability mechanism.

[0008] Preferably, the closed-loop verification module includes an action analysis unit, a deviation evaluation unit, and a feedback correction unit. The action analysis unit automatically analyzes the action sequence, action logic, and sensitivity of the relay protection device based on synchronized multi-source data, and generates a quantitative analysis report. The deviation evaluation unit is used to compare the simulation output parameters with the relay protection action threshold and evaluate the impact of synchronization error and waveform deviation on the test results. The feedback correction unit is used to convert the deviation evaluation results into synchronization compensation instructions and simulation parameter adjustment instructions, and send them to the synchronization control module and the multi-machine simulation module. The operation logic steps of the closed-loop verification module are as follows: S301: Initialize the action analysis unit and receive synchronized multi-source data transmitted by the data coordination module. The synchronized multi-source data includes multi-machine simulation output data and relay protection action feedback data. All data are aligned based on a unified time scale to provide a data foundation for subsequent analysis. S302: The action analysis unit automatically analyzes the action sequence, action logic, and sensitivity of the relay protection device, and generates a quantitative analysis report. The timing deviation calculation formula is as follows: The sensitivity calculation formula is: ,contrast and To determine whether the sensitivity meets the standard, and simultaneously verify the consistency between the action logic and the preset logic; in The timing deviation of the i-th relay protection device is... Let i be the actual operating time of the i-th relay protection device. The theoretical operating time of the relay protection device is preset for the simulation model. Let i be the actual sensitivity of the i-th relay protection device. The standard sensitivity threshold for relay protection devices; S303: The deviation assessment unit calls the quantization results of the action analysis unit, compares the simulation output parameters with the relay protection action threshold, and evaluates the impact of various deviations on the test results. The formula for calculating the amplitude deviation is as follows: The comprehensive deviation evaluation formula is: At the same time, THD is used to determine whether the deviation exceeds the allowable range; in These are the analog simulation parameters output by the multi-machine simulation module. The operating threshold of the relay protection device. To simulate the amplitude deviation between the output parameters and the action threshold, The multi-machine synchronization error is represented by THD, which is the harmonic distortion rate of the simulated output waveform. , , Let be the weight coefficient, and satisfy... ; S304: The feedback correction unit converts the comprehensive evaluation result Q from the deviation evaluation unit into corresponding synchronization compensation commands and simulation parameter adjustment commands, wherein the formula for the synchronization compensation amount is: The formula for adjusting the simulation parameters is: The two instructions are sent to the synchronization control module and the multi-machine simulation module respectively to achieve dynamic optimization of synchronization accuracy and simulation parameters, and complete a closed-loop verification. in This is the compensation amount corresponding to the synchronization compensation command. The adjustment amount corresponding to the simulation parameter adjustment command.

[0009] Preferably, the integrated management and control module has a built-in fault diagnosis unit, which is used to monitor the multi-machine synchronization status, data transmission status and the operating status of each module in real time, and is also used to automatically locate faults and generate alarms and handling suggestions. The operational logic steps of the integrated management and control module are as follows: S401: Fault diagnosis unit initialization, preset various thresholds for multi-machine synchronization error, data transmission, and module operation, and set the fault detection cycle. Initiate real-time monitoring mode, synchronously connect with the synchronization control module, multi-machine simulation module, data collaboration module, and closed-loop verification module to obtain the operating status data of each module; S402: Real-time monitoring of multi-machine synchronization status, collecting multi-machine synchronization error at time t. By using the discriminant formula To determine if there is a fault in multi-machine synchronization, if The initial assessment is that it is a synchronization fault. The time of the fault occurrence and the synchronization error value are recorded. in This is the multi-machine synchronization error threshold; S403: Real-time monitoring of data transmission status, collecting data transmission rate at time t. and data packet loss rate Introducing a transmission stability coefficient The optimized discrimination formula accurately identifies data transmission faults. The discrimination formula is as follows: ; ; when hour, Take 0, when hour, Take 0, if The data transmission failure was identified, and the abnormal values ​​of the transmission parameters and the stability coefficient were recorded. This provides a basis for subsequent troubleshooting; in For data transmission rate threshold, This is the data packet loss rate threshold. S404: Real-time monitoring of the operating status of each module, collecting the operating voltage of the core components of each module at time t. and operating temperature By using the discriminant formula Determine if the module is running normally; if The fault was determined to be a module malfunction, and the faulty module and specific abnormal components were located. in This refers to the allowable operating voltage range of the module. This refers to the module's operating temperature threshold. The fault diagnosis discrimination value at time t; S405: Automatically locates fault type and location, and calculates fault severity coefficient. It generates corresponding audible and visual alarm signals, outputs handling suggestions based on the fault type, and pushes the fault information to the integrated management module for unified display, completing a fault diagnosis process according to the fault detection cycle. The S402-S405 steps are executed cyclically to achieve real-time monitoring and closed-loop fault handling.

[0010] Preferably, the relay protection test terminal can be adapted to different types of relay protection devices for line protection, transformer protection, and bus protection, and supports batch parallel testing.

[0011] Preferably, the synchronization compensation unit, multi-machine simulation module, closed-loop verification module and fault diagnosis unit adopt a unified clock reference; The fault diagnosis unit detected a multi-machine synchronization fault. At that time, the synchronization error data is automatically pushed to the synchronization compensation unit, which adjusts the synchronization compensation amount in real time based on the data. The closed-loop verification module synchronously tracks the adjusted synchronization accuracy, forming a linked closed loop of "fault monitoring - compensation adjustment - accuracy verification," ensuring that the multi-machine synchronization error converges rapidly to the target value. .

[0012] Compared with the prior art, the beneficial effects of the present invention are: By employing the BeiDou + PTP IEEE 1588-2008 precision time synchronization protocol combined with a temperature-controlled crystal oscillator and a dynamic synchronization compensation mechanism based on the least squares algorithm, the synchronization deviation caused by crystal oscillator drift, network jitter, and link asymmetry is effectively suppressed. The synchronization error of multiple machines is controlled within 10 nanoseconds, which completely solves the problem of existing systems having synchronization errors at the microsecond to tens of microsecond level and long-term operational deviation accumulation. It avoids time scale misalignment and amplitude and phase mismatch of multi-machine output waveforms and can stably support large-scale relay protection simulation tests with stringent timing consistency requirements, such as longitudinal differential and wide-area protection. By using the data collaboration module based on the IEC 61850 standard, the format and time stamp of multi-source data such as multi-machine output data, protection device action data, and waveform recording data are unified and synchronized. A unified distributed data storage platform is built, and a data traceability mechanism is established. This effectively solves the shortcomings of existing systems such as heterogeneous multi-source data, asynchronous time stamps, and lack of unified management. It enables joint analysis of waveforms, timing, and logic, ensuring that fault data can be effectively traced, stored, and reused, thereby improving data collaboration efficiency. The closed-loop verification module constructs a real-time closed loop of "simulation output → protection action → feedback correction → iterative optimization". The action analysis unit realizes automatic quantitative evaluation of relay protection action timing, coordination relationship and sensitivity, replacing the existing system's "open-loop injection + manual interpretation" mode. This completely solves the problems of low efficiency and strong subjectivity of test results by manual interpretation. At the same time, the feedback correction unit transforms the deviation evaluation results into synchronous compensation and simulation parameter adjustment instructions, realizing dynamic optimization of the test process and greatly improving the efficiency and accuracy of large-scale relay protection simulation test debugging. By combining the fault diagnosis unit of the integrated control module, real-time monitoring of multi-machine synchronization status, data transmission status, and the operating status of each module can be achieved, along with automatic fault location and hierarchical alarm. The linkage of the synchronization compensation unit and the closed-loop verification module forms a linkage closed loop of "fault monitoring - compensation adjustment - accuracy verification", which further ensures the stability and reliability of the system's long-term operation, adapts to the development needs of new power systems with high proportion of new energy, AC / DC hybrid connection, and multi-terminal flexible DC, and reduces system operation and maintenance costs and test and commissioning cycles. This invention utilizes a precise time synchronization and dynamic compensation mechanism in the synchronization control module to control multi-machine synchronization errors within 10 nanoseconds, avoiding waveform timescale misalignment and amplitude-phase mismatch, thus supporting relay protection tests with stringent timing requirements. The data collaboration module achieves unified format, timescale synchronization, and unified management of multi-source data, ensuring traceability and data retention of fault data and improving data collaboration efficiency. A closed-loop verification module constructs a real-time closed loop, enabling automatic quantitative evaluation of protection actions and dynamic optimization of test parameters, replacing manual interpretation and improving test efficiency and accuracy. Combined with the fault diagnosis and linkage functions of the integrated management and control module, this ensures long-term stable system operation, adapts to the development needs of new power systems, and reduces operation and maintenance costs and commissioning cycles. Attached Figure Description

[0013] Figure 1 This is a block diagram of the large-scale relay protection simulation test and debugging system with multi-machine synchronous output proposed in this invention. Detailed Implementation

[0014] The present invention will be further explained below with reference to specific embodiments.

[0015] Example Reference Figure 1 This embodiment proposes a large-scale relay protection simulation test and debugging system with multi-machine synchronous output, including a synchronization control module, a multi-machine simulation module, a data collaboration module, a closed-loop verification module, an integrated management and control module, and several relay protection test terminals. The synchronization control module, the multi-machine simulation module, the data collaboration module, and the closed-loop verification module are all connected to the integrated management and control module. The output end of the multi-machine simulation module is connected to the relay protection test terminal, the output end of the relay protection test terminal is connected to the data collaboration module, the data collaboration module is connected to the closed-loop verification module, and the closed-loop verification module is connected to the synchronization control module and the multi-machine simulation module. The synchronization control module is used to provide a high-precision clock reference, dynamically correct the synchronization deviation of multiple machines, and realize the time standardization of the output data of multiple machines; The synchronization control module includes a high-precision clock source, a synchronization compensation unit, and a time calibration unit. The high-precision clock source adopts the BeiDou + PTP IEEE 1588-2008 precision time synchronization protocol and, combined with a temperature-controlled crystal oscillator, provides a nanosecond-level clock reference. The synchronization compensation unit is used to collect the clock offset and network transmission delay of each simulation node in real time. Based on the least squares algorithm, it dynamically calculates the compensation value and corrects the clock of each simulation node in real time. The synchronization compensation unit uses an STM32H743 microcontroller as the control core, with a sampling frequency of 100Hz, a sliding window of N=30, and a goodness of fit R2≥0.99. Its specific operating logic is as follows: S101: Bidirectional Message Interaction and Raw Data Acquisition: The synchronization compensation unit and the i-th simulation node engage in bidirectional message interaction based on the PTP IEEE 1588-2008 protocol, sequentially completing the transmission of Sync messages and the interaction of Delay_Resp response messages, and acquiring the time stamp group: This provides raw data for subsequent calculations; S102: Initial Calculation of Clock Offset and Transmission Delay: Based on the time scale group obtained in S101, the estimated values ​​of bidirectional total transmission delay, unidirectional fixed transmission delay, and instantaneous clock offset are calculated. The formulas used are as follows: Bidirectional Total Transmission Delay: ; in The total bidirectional transmission delay between the master node and the i-th slave node. The local clock time at which the master node sends the Sync message. Let i be the local clock time when the i-th slave node receives the Sync message. The local clock time at which the i-th slave node sends the Delay_Resp response message. The local clock time at which the master node receives the Delay_Resp response message; One-way fixed transmission delay estimate: ; in Let N represent the estimated one-way fixed transmission delay between the i-th slave node and the master node, and N be the amount of sampled data within the sliding window. The total bidirectional transmission delay for the k-th sample; Instantaneous clock offset: ; in The instantaneous clock offset for the k-th sample; S103: Dynamic Drift Fitting Based on Least Squares Algorithm: A linear drift model of clock offset is established, an objective function is constructed, and the optimal parameters are solved to obtain the optimal clock offset. The formulas used are as follows: Linear Drift Model: ; in The intercept of the linear drift model. Let be the slope of the linear drift model, and k be the sampling time within the sliding window. For fitting residuals; Least squares objective function: ; in The objective function is the least squares function. Solving for optimal parameters: , ; in , These are the least squares optimal parameters. The covariance between the sampling time and the instantaneous clock offset. The variance at the sampling time point, This represents the average instantaneous clock offset. This represents the average value at each sampling time. Optimal clock offset: ; in The optimal clock offset for the current sampling time. This is the current sampling time; S104: Real-time correction command issuance and clock synchronization: Calculate the correction amount based on the optimal clock offset, adjust the local clock of the slave node, and iterate through S101-S104 at a fixed sampling period to ensure that the multi-machine synchronization error is ≤10ns. The formula used is: Clock correction amount: ; in This is the clock correction amount for the i-th slave node. This represents the current local clock time of the i-th slave node; Clock adjustment: ; in Let i be the local clock time after correction of the i-th slave node; The time-stamping unit performs unified time-stamping encapsulation on analog and digital data output from multiple machines; The multi-machine simulation module generates large-scale power grid fault simulation signals based on a synchronous clock reference and outputs them to the relay protection test terminal. The multi-machine simulation module comprises several distributed simulation nodes, each with a built-in FPGA real-time processing unit and a DA conversion unit. The FPGA real-time processing unit generates a large-scale power grid fault simulation model based on a synchronous clock reference and outputs simulation signals. The DA conversion unit employs a high-precision DA converter, combined with signal conditioning circuitry, to ensure the amplitude and phase consistency of the output waveform, with harmonic distortion below 0.5%. The high-precision DA converter uses 16-bit or higher resolution and a sampling frequency of [missing information]. The signal conditioning circuit uses a low-noise operational amplifier to meet the signal requirements of large-scale relay protection simulation tests. The operating logic steps of the multi-machine simulation module are as follows: S201: FPGA real-time processing unit initialization, receives nanosecond-level synchronization clock reference from synchronization control module, locks clock synchronization signal, ensures that its own running sequence is strictly consistent with the system synchronization clock, and provides timing basis for subsequent simulation model generation; S202: The FPGA real-time processing unit is based on a synchronous clock reference, loads a large-scale power grid fault simulation model, calculates the voltage and current simulation data under fault conditions, generates a digital simulation signal D(k), and outputs it to the DA conversion unit. S203: The DA conversion unit starts the high-precision DA converter to convert the digital simulation signal D(k) output by the FPGA into an analog signal. The conversion formula is as follows: Simultaneously, the output signal phase is calibrated based on a synchronous clock reference to ensure phase consistency across all simulation nodes. The phase calibration formula is as follows: ; in Here, N is the reference voltage for the DA converter, and N is the resolution of the DA converter. The amplitude of the analog signal output by the DA converter. The phase of the analog signal output from the DA converter. The reference phase corresponding to the synchronous clock reference. This is due to phase deviation; S204: The analog signal undergoes amplitude calibration and filtering / noise reduction processing via a signal conditioning circuit. The conditioning formula is as follows: The final output is a simulated signal that meets the requirements. Its harmonic distortion rate is checked using the following formula to ensure that THD < 0.5%. The check formula is: ; in Harmonic distortion rate, The amplitude of the fundamental signal. The amplitude of the 2nd to nth harmonic signals is given by G, where G is the gain of the signal conditioning circuit. This refers to the DC offset of the signal conditioning circuit. The data collaboration module is used to collect multi-source data, perform standardized processing and unified storage, and realize time-stamped synchronization and collaborative management of multi-source data; The data collaboration module includes a data acquisition unit, a data standardization unit, and a unified data storage unit. The data acquisition unit is used to collect multi-machine simulation output data, relay protection action feedback data, and field waveform recording data in real time. The data standardization unit is based on the IEC 61850 standard and performs format unification and time synchronization processing on multi-source data. The unified data storage unit adopts a distributed database to classify and store standardized data and establish a data traceability mechanism. The closed-loop verification module automatically quantifies and evaluates relay protection actions based on synchronized multi-source data, generates feedback correction commands, and optimizes synchronization accuracy and simulation parameters. The closed-loop verification module includes an action analysis unit, a deviation evaluation unit, and a feedback correction unit. The action analysis unit automatically analyzes the action sequence, action logic, and sensitivity of the relay protection device based on synchronized multi-source data, and generates a quantitative analysis report. The deviation evaluation unit is used to compare the simulation output parameters with the relay protection action threshold and evaluate the impact of synchronization error and waveform deviation on the test results. The feedback correction unit is used to convert the deviation evaluation results into synchronization compensation commands and simulation parameter adjustment commands, and send them to the synchronization control module and the multi-machine simulation module. The operation logic steps of the closed-loop verification module are as follows: S301: Initialize the action analysis unit and receive synchronized multi-source data transmitted by the data coordination module. The synchronized multi-source data includes multi-machine simulation output data and relay protection action feedback data. All data are aligned based on a unified time scale to provide a data foundation for subsequent analysis. S302: The action analysis unit automatically analyzes the action sequence, action logic, and sensitivity of the relay protection device, and generates a quantitative analysis report. The timing deviation calculation formula is as follows: The sensitivity calculation formula is: ,contrast and To determine whether the sensitivity meets the standard, and simultaneously verify the consistency between the action logic and the preset logic; in The timing deviation of the i-th relay protection device is... Let i be the actual operating time of the i-th relay protection device. The theoretical operating time of the relay protection device is preset for the simulation model. Let i be the actual sensitivity of the i-th relay protection device. The standard sensitivity threshold for relay protection devices; S303: The deviation assessment unit calls the quantization results of the action analysis unit, compares the simulation output parameters with the relay protection action threshold, and evaluates the impact of various deviations on the test results. The formula for calculating the amplitude deviation is as follows: The comprehensive deviation evaluation formula is: At the same time, THD is used to determine whether the deviation exceeds the allowable range; in These are the analog simulation parameters output by the multi-machine simulation module. The operating threshold of the relay protection device. To simulate the amplitude deviation between the output parameters and the action threshold, The multi-machine synchronization error is represented by THD, which is the harmonic distortion rate of the simulated output waveform. , , Let be the weight coefficient, and satisfy... ; S304: The feedback correction unit converts the comprehensive evaluation result Q from the deviation evaluation unit into corresponding synchronization compensation commands and simulation parameter adjustment commands, wherein the formula for the synchronization compensation amount is: The formula for adjusting the simulation parameters is: The two instructions are sent to the synchronization control module and the multi-machine simulation module respectively to achieve dynamic optimization of synchronization accuracy and simulation parameters, and complete a closed-loop verification. in This is the compensation amount corresponding to the synchronization compensation command. The adjustment amount corresponding to the simulation parameter adjustment command; The integrated management and control module is used to achieve integrated management of system parameter configuration, test process control, fault diagnosis and report generation; The integrated management and control module has a built-in fault diagnosis unit, which is used to monitor the synchronization status of multiple machines, data transmission status and the operating status of each module in real time. It is also used to automatically locate faults and generate alarms and handling suggestions. The operational logic steps of the integrated management and control module are as follows: S401: Fault diagnosis unit initialization, preset various thresholds for multi-machine synchronization error, data transmission, and module operation, and set the fault detection cycle. Initiate real-time monitoring mode, synchronously connect with the synchronization control module, multi-machine simulation module, data collaboration module, and closed-loop verification module to obtain the operating status data of each module; S402: Real-time monitoring of multi-machine synchronization status, collecting multi-machine synchronization error at time t. By using the discriminant formula To determine if there is a fault in multi-machine synchronization, if The initial assessment is that it is a synchronization fault. The time of the fault occurrence and the synchronization error value are recorded. in This is the multi-machine synchronization error threshold; S403: Real-time monitoring of data transmission status, collecting data transmission rate at time t. and data packet loss rate Introducing a transmission stability coefficient The optimized discrimination formula accurately identifies data transmission faults. The discrimination formula is as follows: ; ; when hour, Take 0, when hour, Take 0, if The data transmission failure was identified, and the abnormal values ​​of the transmission parameters and the stability coefficient were recorded. This provides a basis for subsequent troubleshooting; in For data transmission rate threshold, This is the data packet loss rate threshold. S404: Real-time monitoring of the operating status of each module, collecting the operating voltage of the core components of each module at time t. and operating temperature By using the discriminant formula Determine if the module is running normally; if The fault was determined to be a module malfunction, and the faulty module and specific abnormal components were located. in This refers to the allowable operating voltage range of the module. This refers to the module's operating temperature threshold. The fault diagnosis discrimination value at time t; S405: Automatically locates fault type and location, and calculates fault severity coefficient. It generates corresponding audible and visual alarm signals, outputs handling suggestions based on the fault type, and pushes the fault information to the integrated management module for unified display, completing a fault diagnosis process according to the fault detection cycle. S402-S405 are executed cyclically to achieve real-time monitoring and closed-loop fault handling; The relay protection test terminal is used to receive simulation signals, simulate the operating status of relay protection devices, and output action feedback data. The relay protection test terminal can be adapted to different models of line protection, transformer protection, and bus protection relay protection devices, and supports batch parallel testing; The synchronization compensation unit, multi-machine simulation module, closed-loop verification module, and fault diagnosis unit all use a unified clock reference. The fault diagnosis unit detected a multi-machine synchronization fault. At that time, the synchronization error data is automatically pushed to the synchronization compensation unit, which adjusts the synchronization compensation amount in real time based on the data. The closed-loop verification module synchronously tracks the adjusted synchronization accuracy, forming a linked closed loop of "fault monitoring - compensation adjustment - accuracy verification," ensuring that the multi-machine synchronization error converges rapidly to the target value. ; This embodiment utilizes the precise time synchronization and dynamic compensation mechanism of the synchronization control module to control the multi-machine synchronization error within 10 nanoseconds, avoiding waveform timescale misalignment and amplitude-phase mismatch, thus supporting relay protection tests with stringent timing requirements. The data collaboration module achieves unified multi-source data format, timescale synchronization, and unified management, ensuring traceability and retention of fault data and improving data collaboration efficiency. The closed-loop verification module constructs a real-time closed loop, enabling automatic quantitative evaluation of protection actions and dynamic optimization of test parameters, replacing manual interpretation and improving test efficiency and accuracy. Combined with the fault diagnosis and linkage functions of the integrated management and control module, it ensures long-term stable system operation, adapts to the development needs of new power systems, and reduces operation and maintenance costs and commissioning cycles.

[0016] In this embodiment, after the system starts, the integrated management and control module completes the overall initialization. Its fault diagnosis unit presets various operating thresholds, sets a 10ms fault detection cycle, and starts real-time monitoring. It connects with various functional modules to build a collaborative foundation. The synchronization control module starts synchronously. Its high-precision clock source adopts Beidou + PTP IEEE 1588-2008 precision time synchronization protocol combined with a temperature-controlled crystal oscillator to provide a nanosecond-level unified clock reference and ensure the consistency of timing of each module. The synchronization compensation unit of the synchronization control module uses an STM32H743 microcontroller as its core. It achieves multi-machine synchronization correction through steps S101-S104, based on a 100Hz sampling frequency and 30 sliding window parameters: first, it exchanges messages bidirectionally with each simulation node and collects time-stamp groups. Then, using the bidirectional total transmission delay formula One-way fixed transmission delay estimation formula Instantaneous clock offset formula The transmission delay and instantaneous clock offset are calculated; then, based on the least squares algorithm, a linear drift model is used. objective function and the formula for optimal parameters , Obtain the optimal clock offset Finally, the clock correction formula is used. Clock adjustment formula The system issues calibration commands and iterates to ensure that the synchronization error of multiple machines is ≤10ns; the time-scale calibration unit synchronously performs unified time-scale encapsulation on the output data of multiple machines. Each distributed simulation node of the multi-machine simulation module generates a power grid fault simulation signal according to steps S201-S204, supported by a synchronous clock reference: the FPGA real-time processing unit locks the synchronous clock, loads the fault simulation model solution data and generates a digital simulation signal; the DA conversion unit uses a high-precision DA converter with a resolution of 16 bits or higher and a sampling frequency of ≥1GSps to convert the signal according to the conversion formula. Convert the digital signal to an analog signal, and combine it with the phase calibration formula. The phase is calibrated, and then the signal conditioning circuit follows the conditioning formula. After completing amplitude calibration and filtering, the final output is processed by the harmonic distortion rate formula. Verify that the analog signal with THD < 0.5% and consistent amplitude and phase is sent to the relay protection test terminal; The relay protection test terminal is compatible with various relay protection devices. After receiving simulation signals, it simulates operation and outputs action feedback data. The data collaboration module works synchronously. Its data acquisition unit collects multi-source data, and the data standardization unit realizes data format unification and time synchronization based on the IEC 61850 standard. The unified data storage unit uses a distributed database to store data and establishes a traceability mechanism to provide support for subsequent verification. The closed-loop verification module, based on synchronized multi-source data, performs closed-loop optimization according to steps S301-S304: the action analysis unit uses the timing deviation formula... Sensitivity formula The system analyzes the relay protection's operating characteristics and generates a quantitative report; the deviation assessment unit uses the amplitude deviation formula... Comprehensive Deviation Evaluation Formula Assess the impact of deviations; the feedback correction unit uses the synchronous compensation formula. Simulation parameter adjustment formula The system generates adjustment instructions and sends them to the corresponding modules to achieve dynamic optimization. The integrated management and control module provides unified control throughout the entire process. The fault diagnosis unit performs cyclical monitoring according to steps S402-S405: monitoring multi-machine synchronization, data transmission, and module operating status through corresponding discrimination formulas, and classifying faults according to severity formulas. The system calculates the severity of the problem, generates alarms and handling suggestions, and when a synchronization failure is detected, it links the synchronization compensation unit and the closed-loop verification module to form a closed loop, ensuring the stable operation of the system.

[0017] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A large-scale relay protection simulation test and debugging system with multi-machine synchronous output, characterized in that, It includes a synchronous control module, a multi-machine simulation module, a data collaboration module, a closed-loop verification module, an integrated management and control module, and several relay protection test terminals. The synchronous control module, the multi-machine simulation module, the data collaboration module, and the closed-loop verification module are all connected to the integrated management and control module. The output of the multi-machine simulation module is connected to the relay protection test terminal. The output of the relay protection test terminal is connected to the data collaboration module. The data collaboration module is connected to the closed-loop verification module. The closed-loop verification module is connected to the synchronous control module and the multi-machine simulation module. The synchronization control module is used to provide a high-precision clock reference, dynamically correct the synchronization deviation of multiple machines, and realize the time standardization of the output data of multiple machines. The multi-machine simulation module generates large-scale power grid fault simulation signals based on a synchronous clock reference and outputs them to the relay protection test terminal. The data collaboration module is used to collect multi-source data, perform standardized processing and unified storage, and realize time-stamped synchronization and collaborative management of multi-source data. The closed-loop verification module automatically quantifies and evaluates relay protection actions based on synchronized multi-source data, generates feedback correction commands, and optimizes synchronization accuracy and simulation parameters. The integrated management and control module is used to realize integrated management of system parameter configuration, test process control, fault diagnosis and report generation; The relay protection test terminal is used to receive simulation signals, simulate the operating status of the relay protection device, and output action feedback data.

2. The large-scale relay protection simulation test and debugging system with multi-machine synchronous output according to claim 1, characterized in that, The synchronization control module includes a high-precision clock source, a synchronization compensation unit, and a time calibration unit. The high-precision clock source adopts the BeiDou + PTP IEEE 1588-2008 precision time synchronization protocol and, combined with a temperature-controlled crystal oscillator, provides a nanosecond-level clock reference. The synchronization compensation unit is used to collect the clock offset and network transmission delay of each simulation node in real time, dynamically calculate the compensation value based on the least squares algorithm, and correct the clock of each simulation node in real time. The synchronization compensation unit uses an STM32H743 microcontroller as the control core, with a sampling frequency of 100Hz, a sliding window of N=30, and a goodness of fit R2≥0.

99. Its specific operating logic is as follows: S101: Bidirectional Message Interaction and Raw Data Acquisition: The synchronization compensation unit and the i-th simulation node conduct bidirectional message interaction based on the PTP IEEE1588-2008 protocol, sequentially completing the transmission of Sync messages and the interaction of Delay_Resp response messages, and acquiring the time stamp group: This provides raw data for subsequent calculations; S102: Initial Calculation of Clock Offset and Transmission Delay: Based on the time scale group obtained in S101, the estimated values ​​of bidirectional total transmission delay, unidirectional fixed transmission delay, and instantaneous clock offset are calculated. The formulas used are as follows: Bidirectional Total Transmission Delay: ; in The total bidirectional transmission delay between the master node and the i-th slave node. The local clock time at which the master node sends the Sync message. Let i be the local clock time when the i-th slave node receives the Sync message. The local clock time at which the i-th slave node sends the Delay_Resp response message. The local clock time at which the master node receives the Delay_Resp response message; One-way fixed transmission delay estimate: ； in Let N represent the estimated one-way fixed transmission delay between the i-th slave node and the master node, and N be the amount of sampled data within the sliding window. The total bidirectional transmission delay for the k-th sample; Instantaneous clock offset: ; in The instantaneous clock offset for the k-th sample; S103: Dynamic Drift Fitting Based on Least Squares Algorithm: A linear drift model of clock offset is established, an objective function is constructed, and the optimal parameters are solved to obtain the optimal clock offset. The formulas used are as follows: Linear Drift Model: ; in The intercept of the linear drift model. Let be the slope of the linear drift model, and k be the sampling time within the sliding window. For fitting residuals; Least squares objective function: ； in The objective function is the least squares function. Solving for optimal parameters: , ; in , These are the least squares optimal parameters. The covariance between the sampling time and the instantaneous clock offset. The variance at the sampling time point, This represents the average instantaneous clock offset. This represents the average value at each sampling time. Optimal clock offset: ; in The optimal clock offset for the current sampling time. This is the current sampling time; S104: Real-time correction command issuance and clock synchronization: Calculate the correction amount based on the optimal clock offset, adjust the local clock of the slave node, and iterate through S101-S104 at a fixed sampling period to ensure that the multi-machine synchronization error is ≤10ns. The formula used is: Clock correction amount: ; in This is the clock correction amount for the i-th slave node. This represents the current local clock time of the i-th slave node; Clock adjustment: ; in Let i be the local clock time after correction of the i-th slave node; The time-stamping calibration unit performs unified time-stamping encapsulation on analog and digital data output from multiple machines.

3. The large-scale relay protection simulation test and debugging system with multi-machine synchronous output according to claim 1, characterized in that, The multi-machine simulation module includes several distributed simulation nodes. Each simulation node has a built-in FPGA real-time processing unit and a DA conversion unit. The FPGA real-time processing unit generates a large-scale power grid fault simulation model based on a synchronous clock reference and outputs simulation signals. The DA conversion unit uses a high-precision DA converter, combined with signal conditioning circuitry, to ensure the amplitude and phase consistency of the output waveform, with a harmonic distortion rate of less than 0.5%. The high-precision DA converter uses a resolution of 16 bits or higher and a sampling frequency of... The signal conditioning circuit uses a low-noise operational amplifier to meet the signal requirements of large-scale relay protection simulation tests. The operating logic steps of the multi-machine simulation module are as follows: S201: FPGA real-time processing unit initialization, receives nanosecond-level synchronization clock reference from synchronization control module, locks clock synchronization signal, ensures that its own running sequence is strictly consistent with the system synchronization clock, and provides timing basis for subsequent simulation model generation; S202: The FPGA real-time processing unit is based on a synchronous clock reference, loads a large-scale power grid fault simulation model, calculates the voltage and current simulation data under fault conditions, generates a digital simulation signal D(k), and outputs it to the DA conversion unit. S203: The DA conversion unit starts the high-precision DA converter to convert the digital simulation signal D(k) output by the FPGA into an analog signal. The conversion formula is as follows: Simultaneously, the output signal phase is calibrated based on a synchronous clock reference to ensure phase consistency across all simulation nodes. The phase calibration formula is as follows: ; in Here, N is the reference voltage for the DA converter, and N is the resolution of the DA converter. The amplitude of the analog signal output by the DA converter. The phase of the analog signal output from the DA converter. The reference phase corresponding to the synchronous clock reference. This is due to phase deviation; S204: The analog signal undergoes amplitude calibration and filtering / noise reduction processing via a signal conditioning circuit. The conditioning formula is as follows: The final output is a simulated signal that meets the requirements. Its harmonic distortion rate is checked using the following formula to ensure that THD < 0.5%. The check formula is: ; in Harmonic distortion rate, The amplitude of the fundamental signal. The amplitude of the 2nd to nth harmonic signals is given by G, where G is the gain of the signal conditioning circuit. This represents the DC offset of the signal conditioning circuit.

4. The large-scale relay protection simulation test and debugging system with multi-machine synchronous output according to claim 1, characterized in that, The data collaboration module includes a data acquisition unit, a data standardization unit, and a unified data storage unit. The data acquisition unit is used to collect multi-machine simulation output data, relay protection action feedback data, and field waveform recording data in real time. The data standardization unit is based on the IEC 61850 standard and performs format unification and time synchronization processing on multi-source data. The unified data storage unit adopts a distributed database to classify and store standardized data and establish a data traceability mechanism.

5. The large-scale relay protection simulation test and debugging system with multi-machine synchronous output according to claim 1, characterized in that, The closed-loop verification module includes an action analysis unit, a deviation evaluation unit, and a feedback correction unit. The action analysis unit automatically analyzes the action sequence, action logic, and sensitivity of the relay protection device based on synchronized multi-source data, and generates a quantitative analysis report. The deviation evaluation unit is used to compare the simulation output parameters with the relay protection action threshold and evaluate the impact of synchronization error and waveform deviation on the test results. The feedback correction unit is used to convert the deviation evaluation results into synchronization compensation instructions and simulation parameter adjustment instructions, and send them to the synchronization control module and the multi-machine simulation module. The operation logic steps of the closed-loop verification module are as follows: S301: Initialize the action analysis unit and receive synchronized multi-source data transmitted by the data coordination module. The synchronized multi-source data includes multi-machine simulation output data and relay protection action feedback data. All data are aligned based on a unified time scale to provide a data foundation for subsequent analysis. S302: The action analysis unit automatically analyzes the action sequence, action logic, and sensitivity of the relay protection device, and generates a quantitative analysis report. The timing deviation calculation formula is as follows: The sensitivity calculation formula is: ,contrast and To determine whether the sensitivity meets the standard, and simultaneously verify the consistency between the action logic and the preset logic; in The timing deviation of the i-th relay protection device is... Let i be the actual operating time of the i-th relay protection device. The theoretical operating time of the relay protection device is preset for the simulation model. Let i be the actual sensitivity of the i-th relay protection device. The standard sensitivity threshold for relay protection devices; S303: The deviation assessment unit calls the quantization results of the action analysis unit, compares the simulation output parameters with the relay protection action threshold, and evaluates the impact of various deviations on the test results. The formula for calculating the amplitude deviation is as follows: The comprehensive deviation evaluation formula is: At the same time, THD is used to determine whether the deviation exceeds the allowable range; in These are the analog simulation parameters output by the multi-machine simulation module. The operating threshold of the relay protection device. To simulate the amplitude deviation between the output parameters and the action threshold, The multi-machine synchronization error is represented by THD, which is the harmonic distortion rate of the simulated output waveform. , , Let be the weight coefficient, and satisfy... ; S304: The feedback correction unit converts the comprehensive evaluation result Q from the deviation evaluation unit into corresponding synchronization compensation commands and simulation parameter adjustment commands, wherein the formula for the synchronization compensation amount is: The formula for adjusting the simulation parameters is: The two instructions are sent to the synchronization control module and the multi-machine simulation module respectively to achieve dynamic optimization of synchronization accuracy and simulation parameters, and complete a closed-loop verification. in This is the compensation amount corresponding to the synchronization compensation command. The adjustment amount corresponding to the simulation parameter adjustment command.

6. The large-scale relay protection simulation test and debugging system with multi-machine synchronous output according to claim 1, characterized in that, The integrated management and control module has a built-in fault diagnosis unit, which is used to monitor the multi-machine synchronization status, data transmission status and the operating status of each module in real time. It is also used to automatically locate faults and generate alarms and handling suggestions. The operational logic steps of the integrated management and control module are as follows: S401: Fault diagnosis unit initialization, preset various thresholds for multi-machine synchronization error, data transmission, and module operation, and set the fault detection cycle. Initiate real-time monitoring mode, synchronously connect with the synchronization control module, multi-machine simulation module, data collaboration module, and closed-loop verification module to obtain the operating status data of each module; S402: Real-time monitoring of multi-machine synchronization status, collecting multi-machine synchronization error at time t. By using the discriminant formula To determine if there is a fault in multi-machine synchronization, if The initial assessment is that it is a synchronization fault. The time of the fault occurrence and the synchronization error value are recorded. in This is the multi-machine synchronization error threshold; S403: Real-time monitoring of data transmission status, collecting data transmission rate at time t. and data packet loss rate Introducing a transmission stability coefficient The optimized discrimination formula accurately identifies data transmission faults. The discrimination formula is as follows: ； ； when hour, Take 0, when hour, Take 0, if The data transmission failure was identified, and the abnormal values ​​of the transmission parameters and the stability coefficient were recorded. This provides a basis for subsequent troubleshooting; in For data transmission rate threshold, This is the data packet loss rate threshold. S404: Real-time monitoring of the operating status of each module, collecting the operating voltage of the core components of each module at time t. and operating temperature By using the discriminant formula Determine if the module is running normally; if The fault was determined to be a module malfunction, and the faulty module and specific abnormal components were located. in This refers to the allowable operating voltage range of the module. This refers to the module's operating temperature threshold. The fault diagnosis discrimination value at time t; S405: Automatically locates fault type and location, and calculates fault severity coefficient. It generates corresponding audible and visual alarm signals, outputs handling suggestions based on the fault type, and pushes the fault information to the integrated management module for unified display, completing a fault diagnosis process according to the fault detection cycle. The S402-S405 steps are executed cyclically to achieve real-time monitoring and closed-loop fault handling.

7. The large-scale relay protection simulation test and debugging system with multi-machine synchronous output according to claim 1, characterized in that, The relay protection test terminal can be adapted to different types of relay protection devices for line protection, transformer protection, and bus protection, and supports batch parallel testing.

8. The large-scale relay protection simulation test and debugging system with multi-machine synchronous output according to claim 6, characterized in that, The synchronization compensation unit, multi-machine simulation module, closed-loop verification module, and fault diagnosis unit all use a unified clock reference. The fault diagnosis unit detected a multi-machine synchronization fault. At that time, the synchronization error data is automatically pushed to the synchronization compensation unit, which adjusts the synchronization compensation amount in real time based on the data. The closed-loop verification module synchronously tracks the adjusted synchronization accuracy, forming a linked closed loop of "fault monitoring - compensation adjustment - accuracy verification" to ensure that the multi-machine synchronization error converges quickly to the target value. .

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