Simulator, simulation method, and computer-readable recording medium

Abstract

To facilitate improvement in simulation accuracy and improvement in system stability.SOLUTION: A simulator disclosed herein is configured to: calculate a compensation signal for compensating output of a power supply element of a simulation model 33 using a virtual electrical characteristic element virtually representing a part or all of electrical characteristics related to resistance of a DUT 5, an electrical signal of the DUT, and an electrical signal of a power system model 41; calculate a feedback electrical signal using the compensation signal and the electrical signal of the DUT 5; and output the feedback electrical signal to the power supply element of the simulation model 33.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a simulator, a simulation method, and a computer-readable recording medium. [Background technology]

[0002] Conventionally, a simulation system using PHIL (Power Hardware in the Loop) has been known as a test system for power systems and control systems (such as power converters) interconnected to power systems (for example, Patent Document 1). A simulation system using PHIL simulation has a configuration in which a real-time simulator (RTS) that implements a power system or the like as a simulation model is connected to a device under test (DUT) via an interface, as shown in FIG. 20. In a test system using PHIL simulation, there is a concern that the presence of an interface can cause signal transmission delays and reduce the accuracy and stability of the simulation.

[0003] Conventionally, various interface algorithms have been developed as a method for improving the accuracy of PHIL simulation. One of these interface algorithms, the Damping Impedance Method (DIM), uses a damping impedance element (hereinafter referred to as a "circuit-simulated impedance element") Z that is simulated by a circuit network of linear circuit elements, as shown in Figure 20. * is connected in series to the voltage source of the simulation model, and this circuit-simulated impedance element Z * is the impedance characteristic Z of the DUT. B This is a method to improve the stability and accuracy of the system by identifying the

[0004] Now, assuming that the internal impedance of the amplifier can be ignored, the transfer function of the open-loop system of DIM is G OLcan be expressed as the following equation (1).

[0005]

number

[0006] In equation (1), Tamp is the characteristic of the amplifier equipped in the interface, Z A shows the impedance characteristics of the power system model implemented by the real-time simulator. The circuit-simulated impedance element Z * and the impedance characteristic Z of the DUT B By matching the transfer function G OL Since converges to 0 (zero), it is possible to minimize the influence of the interface. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] US Patent Application Publication No. 2018 / 0172778 Summary of the Invention [Problem to be solved by the invention]

[0008] When the impedance characteristics of the DUT represent a network of passive linear elements, it is relatively easy to identify the circuit simulation impedance, which effectively improves the accuracy and stability of the simulation. However, when the impedance characteristics are complicated or include nonlinear characteristics, such as in a power converter, it is difficult to match the circuit simulation impedance to the impedance characteristics of the DUT. In this case, in the numerator of the above equation (1), Z B =Z * This results in errors being superimposed, which can lead to a loss of system stability and a significant drop in simulation accuracy.

[0009] The present disclosure has been made in consideration of the above circumstances, and aims to provide a simulator, a simulation method, and a computer-readable recording medium that can easily improve the accuracy of simulation and the stability of the system. [Means for solving the problem]

[0010] A simulator according to one embodiment of the present disclosure is a simulator that includes a simulation model including a power system model that models a power system to which a test subject is connected, and is connected to a test subject, which is hardware, via an interface and tests the operation of the test subject by running a simulation of the simulation model. The simulator includes one or more memories that store the simulation model and a program, and one or more processors that execute the program. The one or more processors calculate a compensation signal for compensating the output of a power supply element of the simulation model using a virtual electrical characteristic element that virtually represents some or all of the electrical characteristics related to the resistance of the test subject, an electrical signal of the test subject, and an electrical signal of the power system model, calculates a feedback electrical signal using the compensation signal and the electrical signal of the test subject, and outputs the feedback electrical signal to the power supply element of the simulation model.

[0011] A simulation method according to one aspect of the present disclosure is a simulation method for testing the operation of a test specimen, which is hardware, by connecting a simulator equipped with a simulation model including a power system model that models a power system to which a test specimen is connected via an interface and executing a simulation of the simulation model, wherein the simulator calculates a compensation signal for compensating the output of a power supply element of the simulation model using a virtual electrical characteristic element that virtually represents some or all of the electrical characteristics related to the resistance of the test specimen, an electrical signal of the test specimen, and an electrical signal of the power system model, calculates a feedback electrical signal using the compensation signal and the electrical signal of the test specimen, and outputs the feedback electrical signal to the power supply element of the simulation model.

[0012] One aspect of the present disclosure is a non-transitory computer-readable recording medium having a program recorded thereon for causing a computer to function as the simulator. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram showing a schematic configuration of a simulation system according to a first embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of a simulator according to the first embodiment of the present disclosure. [Figure 3] FIG. 2 is a block diagram illustrating an example of a simulation model implemented by a simulator according to the first embodiment of the present disclosure. [Figure 4] FIG. 2 is a diagram illustrating an example of a feedback voltage calculation model as a block diagram according to the first embodiment of the present disclosure. [Figure 5] FIG. 10 is a block diagram illustrating an example of a simulation model implemented by a simulator according to a second embodiment of the present disclosure. [Figure 6] FIG. 10 is a diagram showing an example of impedance characteristics of a test specimen. [Figure 7]FIG. 7 is a diagram showing the low frequency characteristics of the impedance characteristics shown in FIG. 6. [Figure 8] FIG. 7 is a diagram showing high-frequency characteristics of the impedance characteristics shown in FIG. [Figure 9] FIG. 11 is a block diagram illustrating an example of a simulation model included in a simulator according to a third embodiment of the present disclosure. [Figure 10] FIG. 11 is a diagram illustrating an example of a correction calculation model according to a third embodiment of the present disclosure, expressed as a block diagram. [Figure 11] FIG. 10 is a block diagram illustrating an example of a simulation model implemented by a simulator according to a fourth embodiment of the present disclosure. [Figure 12] FIG. 10 is a block diagram illustrating an example of a feedback voltage calculation model according to a fourth embodiment of the present disclosure. [Figure 13] FIG. 10 is a block diagram illustrating a model of a compensation voltage calculation element as an example according to a fourth embodiment of the present disclosure. [Figure 14] FIG. 10 is a diagram showing an example of impedance components Zdd and Zqq of a specimen according to the fourth embodiment of the present disclosure. [Figure 15] FIG. 10 is a diagram showing an example of impedance components Zdq and Zqd of a specimen according to a fourth embodiment of the present disclosure. [Figure 16] FIG. 10 is a diagram illustrating an example of a configuration of a feedback voltage calculation model when a non-function virtual interface characteristic is used. [Figure 17] FIG. 10 is a diagram illustrating an example of a block diagram of a virtual interface according to a modification of the present disclosure. [Figure 18] FIG. 10 is a block diagram illustrating an example of a feedback current calculation model according to a modification of the present disclosure. [Figure 19] FIG. 10 is a diagram illustrating an example of a compensation current calculation element according to a modified example of the present disclosure. [Figure 20] FIG. 1 is a diagram showing a general configuration of a simulation system using PHIL simulation. DETAILED DESCRIPTION OF THE INVENTION

[0014] [First embodiment] Hereinafter, a simulator, a simulation method, and a computer-readable recording medium according to a first embodiment of the present disclosure will be described with reference to FIG. 1 is a diagram showing a schematic configuration of a simulation system 1 according to this embodiment. The simulation system 1 according to this embodiment tests and evaluates the operation of a device under test (hereinafter referred to as "DUT") 5 using, for example, a PHIL simulation.

[0015] The DUT 5 is hardware to be tested, and examples thereof include a power converter and a controller. Specific examples of the DUT 5 include a power conditioning system (PCS), an uninterruptible power supply (UPS), and an inverter. In this embodiment, the DUT 5 is actual hardware (a real device), but is not limited to this. For example, it is also possible to use a miniature model that has the same functions as the real device but is scaled down in capacity, etc.

[0016] The simulation system 1 includes an interface 2 and a simulator 3 . The interface 2 is interposed between, for example, the simulator 3 and the DUT 5, and realizes the transmission of signals and power (voltage and current) between the DUT 5 and the simulator 3. For example, the interface 2 includes a voltage source 21, an analog-to-digital converter (hereinafter referred to as "ADC") 23, a digital-to-analog converter (hereinafter referred to as "DAC") 24, a current sensor 25, a voltage sensor 26, and the like. The current sensor 25 detects the current flowing through the DUT 5 and outputs a current signal I2 based on the detected current value. The voltage sensor 26 detects the voltage of the DUT 5 and outputs a voltage signal V2 based on the detected voltage value. Note that the current sensor 25 and the voltage sensor 26 may be sensors provided in the DUT 5, and in this case, the current sensor 25 and the voltage sensor 26 can be omitted from the interface 2.

[0017] The current signal detected by the current sensor 25 and the voltage signal detected by the voltage sensor 26 are converted from analog signals to digital signals by the ADC 23 and output to the simulator 3.

[0018] Furthermore, the interface 2 converts the voltage signal output from the simulator 3 from a digital signal to an analog signal using the DAC 24 and outputs the signal to the voltage source 21. The voltage source 21 amplifies the voltage signal output from the simulator 3 and supplies it to the DUT 5. As a result, a voltage corresponding to the voltage signal output from the simulator 3 is supplied to the DUT 5. For the interface 2, a known technique used in PHIL simulation may be used as appropriate, and a detailed description thereof will be omitted.

[0019] The simulator 3 is, for example, a real-time simulator (RTS). Fig. 2 is a diagram showing an example of the hardware configuration of the simulator 3. As shown in Fig. 2, the simulator 3 is configured with a computer or the like, and includes, for example, a CPU (Central Processing Unit: processor) 11, a main memory 12, and a secondary storage 13. These components are connected to each other directly or indirectly via a bus, and cooperate with each other to execute various processes.

[0020] The simulator 3 may include a communication interface 14, an external interface 15, an input device 16, an output device 17, etc. The input device 16 and the output device 17 may be connected to the CPU 11, etc. via a bus, or may be connected via the communication interface 14 or the external interface 15.

[0021] The CPU 11 controls the entire simulator 3 using, for example, an OS (Operating System) stored in a secondary storage device 13 connected via a bus, and executes various processes by executing various programs stored in the secondary storage device 13. One or more CPUs 11 may be provided, and they may work together to realize processes. Examples of the CPU 11 include a microprocessor, a microcontroller, a vector processor, a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application-Specific Integrated Circuit), etc. The simulator 3 may include one or more processors, or a combination of these.

[0022] The main memory device 12 is composed of writable memory such as cache memory and RAM (Random Access Memory), and is used as a working area for reading out programs executed by the CPU 11 and writing data processed by the programs.

[0023] The secondary storage device 13 is a non-transitory computer-readable storage medium. Examples of the secondary storage device 13 include a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, and a semiconductor memory. Examples of the secondary storage device 13 include a read-only memory (ROM), a hard disk drive (HDD), and a solid-state drive (SSD) flash memory. The secondary storage device 13 stores, for example, an operating system (OS) for controlling the entire simulator 3, such as Windows (registered trademark), iOS (registered trademark), or Android (registered trademark), a basic input / output system (BIOS), various device drivers for operating peripheral devices, various application software, and various data and files. The secondary storage device 13 also stores programs for executing various processes to realize the simulation described below and various data required to realize the various processes. The programs may include various application software, such as MATLAB (registered trademark), Simulink (registered trademark), and Simulink Coder. A plurality of secondary storage devices 13 may be provided, and the above-mentioned programs and data may be stored separately in each secondary storage device 13.

[0024] The communication interface 14 functions as an interface for connecting to a network to communicate with other devices and transmitting and receiving information. For example, the communication interface 14 communicates with other devices via a wired or wireless connection. Examples of wireless communication include communication via lines such as Bluetooth (registered trademark), Wi-Fi, mobile communication systems (3G, 4G, 5G, 6G, LTE, etc.), and wireless LAN. An example of wired communication is communication via lines such as a wired LAN (Local Area Network).

[0025] The external interface 15 is an interface for connecting to an external device. Examples of external devices include an external monitor, a USB memory, an external HDD, an external camera, etc. Although only one external interface 15 is shown in the example shown in FIG. 1, multiple external interfaces 15 may be provided.

[0026] Examples of the input device 16 include a keyboard, a touchpad, a pointing device, etc. Examples of the pointing device include a mouse, a touch panel, a pen tablet, a trackpad, a trackball, etc. Examples of the output device 17 include a display, a projector, and a printer.

[0027] A series of processes for realizing the functions described below is stored in the form of a program in the secondary storage device 13, for example, and the CPU (processor) 11 reads this program into the main storage device 12 and executes information processing and arithmetic processing to realize various functions. Note that the program may be pre-installed in the secondary storage device 13, provided in a state stored in a non-transitory computer-readable storage medium, or distributed via wired or wireless communication means. Examples of non-transitory computer-readable storage media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, and semiconductor memories.

[0028] 1, simulator 3 has functions such as a controller 31 that executes a simulation, a simulation model 33, and a storage unit 32 that stores various programs. Simulation model 33 includes, for example, a power system model 41 that models a power system such as a power grid or plant to which DUT 5 is connected, and a virtual interface 42. Power system model 41 may incorporate, for example, a generator, a transformer, etc. as models.

[0029] The simulation model 33 is a model that can cause abnormal conditions such as failures and accidents in order to test the response of the DUT 5 and verify its operation. For example, if the connection target is a power system, the simulation model 33 may be configured to be able to simulate behavior during an accident in accordance with interconnection regulations (e.g., IEEE 1547).

[0030] 3 is a block diagram illustrating an example of a simulation model 33 implemented by the simulator 3 according to this embodiment. As shown in FIG. 3, the simulation model 33 includes, for example, a power system model 41 and a virtual interface 42. The power system model 41 includes, for example, a power supply element 51 and an impedance element 52. In this embodiment, the power supply element 51 is a model of a single-phase AC power supply. The impedance element 52 is a model of an internal impedance inherent in the power system.

[0031] The virtual interface 42 includes a power supply element for transmitting the operating state of the DUT 5 to the power system model 41, a feedback voltage calculation model (feedback voltage calculation unit) 70, etc. The power supply element includes a voltage source element 61 and a current source element 62. The voltage source element 61 and the current source element 62 are connected in parallel to the output side of the power system model 41. The current source element 62 virtually generates a current corresponding to the current signal supplied from the ADC 23 of the interface 2. The feedback voltage calculation model 70 transmits the voltage signal of the DUT 5 to the simulation model 33 .

[0032] The feedback voltage calculation model (feedback model) 70 calculates a compensation signal for compensating the output of the power supply element of the simulation model 33, for example, using a virtual electrical characteristic element that virtually represents some or all of the electrical characteristics related to the resistance of the DUT 5, an electrical signal of the DUT 5, and an electrical signal of the power system model 41, calculates a feedback electrical signal using the compensation signal and the electrical signal of the DUT 5, and outputs the feedback electrical signal to the power supply element of the simulation model.

[0033] 4 is a block diagram showing an example of a feedback voltage calculation model 70. Here, the feedback voltage calculation model 70 is a model that calculates a compensation voltage signal for compensating for the output of the voltage source element 61. Note that, as will be described later, a configuration in which the output of the current source element 62 is compensated for instead of the voltage source element 61 may also be used. As shown in FIG. 4, the feedback voltage calculation model 70 includes a subtraction element (subtraction unit) 71, a compensation voltage calculation element (compensation voltage calculation unit) 72, and an addition element (addition unit) 73.

[0034] The subtraction element 71 acquires, for example, a current signal I1 of the power system model 41 and a current signal I2 of the DUT 5, and outputs a difference current signal ΔI (=I1−I2) between them.

[0035] The compensation voltage calculation element 72 calculates the impedance characteristic (electrical characteristic related to resistance) Z of the DUT 5. B The compensation voltage calculation element 72 calculates the voltage compensation signal V using the virtual impedance element and the differential current signal ΔI. R Specifically, the compensation voltage calculation element 72 multiplies the virtual impedance element by the differential current signal ΔI to calculate the voltage compensation signal V R For example, the differential current signal ΔI is expressed as a multiplication in the frequency domain.

[0036] Summing element 73 generates a voltage compensation signal V Rand the voltage signal V2 of the DUT 5 to calculate the feedback voltage signal V1. The feedback voltage signal V1, which is the output of the adding element 73, is input to the voltage source element 61. This causes the voltage source element 61 to generate a virtual voltage corresponding to the feedback voltage signal V1.

[0037] In this way, in the simulator 3 of this embodiment, instead of the conventionally adopted circuit simulation type impedance (see FIG. 20), the impedance characteristic Z B A virtual impedance element is used that is expressed as a function. This virtual impedance element reduces the voltage drop ΔV (= (I1 - I R )×Z * ) to the voltage compensation signal V R and calculates this voltage compensation signal V R is reflected in the voltage signal V2 fed back from the DUT 5 to the simulation model 33. This makes it possible to adjust the voltage of the simulation model 33 as if a circuit-simulating impedance were provided. For example, the differential current signal ΔI (=I1 - I R Note that ) is expressed in multiplication form in the frequency domain.

[0038] Next, an example of a method for setting virtual impedance elements in the process of generating the simulation model 33 implemented by the simulator 3 according to this embodiment will be described. First, the impedance characteristics of DUT 5 are acquired. In this process, for example, a predetermined reference voltage signal is supplied to DUT 5 via interface 2. For example, a reference single-phase AC voltage signal V(t) of rated voltage and rated frequency is output to DAC 24 of interface 2. This reference single-phase AC voltage signal V(t) is supplied to voltage source 21 via DAC 24. This drives DUT 5, and the resulting current signal I2(t) and voltage signal V2(t) are measured by current sensor 25 and voltage sensor 26, respectively.

[0039] Next, the impedance characteristic Z of the DUT 5 is calculated based on the current signal I2(t) and the voltage signal V2(t). B Next, calculate the impedance characteristic Z B is expressed as a transfer function and set as the virtual impedance element of the compensation voltage calculation element 72 of the feedback voltage calculation model 70.

[0040] Once the virtual impedance elements of the feedback voltage calculation model 70 are set in this way, the DUT 5 is ready for testing, and a simulation test of the DUT 5 is carried out at any timing. The method for acquiring the impedance characteristics of the DUT 5 is not limited to the above example, and any known technique may be appropriately adopted. In other words, various methods have been proposed for acquiring the impedance characteristics of operating hardware, and any of these known methods may be appropriately adopted.

[0041] Next, a simulation method using the simulation system 1 will be described. Of the series of processes described below, some or all of the processes performed by the simulator are stored in the form of a program in, for example, a secondary storage device 13 (see Figure 2), and are realized by a CPU (processor) 11 reading this program into a main storage device 12 and executing information processing and arithmetic operations.

[0042] When a simulation is executed, various events are simulated in the power system model 41, and virtual voltages at that time are sensed and output to the voltage source 21 via the DAC 24. The voltage source 21 supplies a voltage corresponding to the input voltage signal V1 to the DUT 5. As a result, the voltage signal V1 in the power system model 41 is reflected in the DUT 5, causing the DUT 5 to operate. The current and voltage of the DUT 5 are measured by the current sensor 25 and the voltage sensor 26, respectively, and these current signal I2 and voltage signal V2 are converted into digital signals by the ADC 23 and fed back to the virtual interface 42.

[0043] Specifically, the current signal I2 of the DUT 5 is input to the current source element 62 of the virtual interface 42, and is also input to the feedback voltage calculation model 70. In addition, the voltage signal V2 of the DUT 5 is input to the feedback voltage calculation model 70. In addition, the current signal I1 of the power system model 41 is input to the feedback voltage calculation model 70.

[0044] In the feedback voltage calculation model 70, a subtraction element 71 calculates a difference current signal ΔI between the current signal I1 of the power system model 41 and the current signal I2 sensed by the DUT 5, and outputs the result to a compensation voltage calculation element 72. The compensation voltage calculation element 72 calculates a difference current signal ΔI between the difference current signal ΔI and the virtual impedance element Z' B By multiplying by and, the voltage compensation signal V R is calculated and output to the adding element 73. In the adding element 73, the voltage compensation signal V R and the voltage signal V2 of the DUT 5 are added together and output as a feedback voltage signal V1 to the voltage source element 61 of the virtual interface 42. The above process is then repeated to execute the PHIL simulation.

[0045] As described above, according to this embodiment, the voltage compensation signal V is calculated using the virtual impedance element that represents the impedance characteristic of the DUT 5 as a function, the current signal I2 of the DUT 5, and the current signal I1 of the power system model 41. R and calculates the voltage compensation signal V R and the voltage signal V2 of the DUT 5, the feedback voltage signal V1 is calculated, and the feedback voltage signal V1 is output to the voltage source element 61 of the simulation model 33.

[0046] In this way, by using the virtual impedance element that expresses the impedance characteristic of the DUT 5 as a function, the impedance characteristic Z of the DUT 5 can be calculated more precisely than when a circuit simulation type impedance that is simulated by a circuit network of linear circuit elements is used as in the conventional case. B It is expected that the impedance characteristic Z of DUT5 can be simulated with high accuracy.B This is effective when the characteristics are nonlinear or difficult to simulate with a network of linear circuit elements. This makes it possible to effectively reduce simulation errors caused by the presence of interface 2, thereby improving the accuracy of the simulation. It is also expected to improve the stability of the power system model 41. Furthermore, by using virtual impedance elements, it is possible to eliminate the need to identify circuit elements (resistors, inductors, capacitors, etc.) that was required when using circuit-simulated impedance, making it possible to easily construct a simulation model.

[0047] Second Embodiment Next, a simulator, a simulation method, and a computer-readable recording medium according to a second embodiment of the present disclosure will be described.

[0048] In the simulator 3 according to the first embodiment described above, as in the conventional simulation model illustrated in FIG. 20, a circuit-simulated impedance element Z , which is simulated by a circuit network of linear circuit elements, is provided on the input side of the voltage source element. * are not connected in series. Therefore, if the current in the simulation model 33 suddenly changes due to, for example, a change in the topology of the power system model 41, the output current may fluctuate significantly. Furthermore, feedback of the current flowing through the simulation model 33 may cause changes in the closed-loop system, which may impair the stability of the closed-loop system.

[0049] Therefore, in this embodiment, both the above-mentioned virtual impedance element and the circuit-simulated impedance are used in combination. Specifically, part of the impedance characteristics of the DUT is implemented as a virtual impedance element, and the remaining characteristics are simulated as a circuit-simulated impedance.

[0050] The simulator according to this embodiment will be described below with reference to Fig. 5. In the following description, the description of the configuration common to the simulator 3 according to the first embodiment will be omitted, and differences will be mainly described.

[0051] 5 is a block diagram of a simulation model 33a implemented by the simulator according to the present embodiment. As shown in FIG. 5, the simulator according to the present embodiment includes a circuit-mimicking impedance element 74 connected in series to the input side of a voltage source element 61 in a virtual interface 42a. Furthermore, the feedback voltage calculation model 70a has a configuration similar to that of the first embodiment described above, but differs from the first embodiment in the function of the virtual impedance element set in the compensation voltage calculation element 72. Specifically, in the first embodiment described above, the impedance characteristic Z B was set as a function of the virtual impedance element, but in this embodiment, the impedance characteristic Z B The impedance characteristic Z B1 is set as a function of the virtual impedance element. Then, the remaining impedance characteristic Z B2 (=Z B -Z B1 ) is simulated by a network of linear circuit elements included in the circuit-simulated impedance element 74. Here, the circuit-simulated impedance element 74 only needs to include at least one of a resistance element (R), an inductor element (L), and a capacitor element (C), and does not necessarily need to be simulated as a circuit including all of these elements.

[0052] Here, the impedance characteristic Z B There are several ways to divide the impedance characteristics Z B For example, the impedance characteristic Z B When is the composite impedance of the RL series circuit, the frequency characteristics are shown in Figure 6. In this case, the impedance characteristics Z in the low frequency range are BLand the impedance characteristic Z in the high frequency range BH Here, when the impedance characteristics are divided by frequency domain, the resistance component is dominant in the low frequency domain (see FIG. 7), and the inductance component is dominant in the high frequency domain (see FIG. 8). Therefore, for example, the impedance characteristics Z BL is set to the virtual impedance element as a function of the resistance element, and the impedance characteristic Z BH may be set as an inductance in the circuit-mimicking impedance element 74.

[0053] As described above, according to this embodiment, the impedance characteristic Z of the DUT 5 is used as a virtual impedance element in the compensation voltage calculation element of the feedback voltage calculation model 70a. B Some impedance characteristics Z B1 is set as a function, and the remaining impedance characteristics Z B2 (=Z B -Z B1 ) is simulated by a circuit-mimicking impedance element 74. Here, the circuit-mimicking impedance element 74 is connected in series to the voltage source element 61. This makes it possible to mitigate current changes in the simulation model 33a. As a result, it is possible to maintain the stability of the closed-loop system even if the current in the simulation model 33a changes suddenly. This is also effective in improving the stability of the system caused by signal transmission delays due to the presence of the interface 2.

[0054] In the above-described embodiment, the impedance characteristic Z B The case where the impedance has a linear characteristic was explained as an example, but the impedance characteristic Z B may have partially nonlinear or dynamic characteristics. Even in such cases, the impedance characteristic Z B By separating the components into those that are easy to simulate with a network of linear circuit elements and other components, it becomes possible to easily and highly accurately identify the circuit simulation type impedance element 74.

[0055] Third Embodiment Next, a simulator, a simulation method, and a computer-readable recording medium according to the third embodiment will be described. In the following description, the description of the configuration common to the first embodiment will be omitted, and differences will be mainly described.

[0056] 9 is a block diagram illustrating an example of a simulation model 33b included in the simulator according to this embodiment. As shown in FIG. 9, the simulation model 33b according to this embodiment includes a circuit-mimicking impedance element 74a connected in series to a voltage source element 61, and a voltage correction calculation model 80 that calculates a voltage correction signal to compensate for a voltage drop caused by the provision of the circuit-mimicking impedance element 74a. The circuit-mimicking impedance element 74a may have any impedance characteristics, but it is preferable that the circuit-mimicking impedance element 74a has a simple circuit configuration that can maintain the stability of the closed-loop system even if the current in the simulation model 33a changes suddenly. For example, the circuit-mimicking impedance element 74a may be implemented as a resistor element having an appropriate resistance value.

[0057] Fig. 10 is a block diagram showing an example of the voltage correction calculation model 80. As shown in Fig. 10, the input signal of the voltage correction calculation model 80 is the same as the input signal of the feedback voltage calculation model 70, so that the subtraction element 71 can be shared.

[0058] The voltage correction calculation model (voltage correction calculation unit) 80 includes, for example, a virtual impedance element in which the impedance characteristics of the circuit simulation type impedance element 74a are set as a function, and calculates a voltage correction signal V using a differential current signal ΔI which is the difference between the current signal I2 of the DUT 5 and the current signal I1 of the power system model 41. off This voltage correction signal V off is reflected in the feedback voltage signal V1 calculated by the feedback voltage calculation model 70. Specifically, the voltage compensation signal VR , the voltage signal V2 of the DUT 5 and the voltage correction signal V off More specifically, the feedback voltage signal V1' output to the voltage source element 61 is calculated based on the feedback voltage signal V1 calculated by the feedback voltage calculation model 70. off The feedback voltage signal V1' from which V has been subtracted is output to the voltage source element 61.

[0059] As described above, according to this embodiment, the circuit-mimicking impedance element 74a is connected in series to the voltage source element 61. This makes it possible to mitigate current changes in the simulation model 33b. As a result, it is possible to maintain the stability of the closed-loop system even if the current in the simulation model 33b changes suddenly. This also has an effect on the stability of the system caused by signal transmission delays due to the presence of the interface 2.

[0060] Furthermore, the simulation model 33b includes a voltage correction calculation model 80 that calculates a voltage signal that cancels out the voltage drop caused by the provision of the circuit imitation impedance element 74a. This eliminates the effect of the voltage drop caused by the circuit imitation impedance element 74a, and makes it possible to make the power supply voltage behave as if the circuit imitation impedance element 74a did not exist.

[0061] [Fourth embodiment] Next, a simulator according to a fourth embodiment will be described with reference to the drawings. In the first embodiment described above, the simulator 3 is configured to implement a simulation model 33 that models a power system that supplies single-phase AC power. However, the simulator according to this embodiment differs in that it implements a plurality of simulation models 60a to 60c, including a power system model that models a power system that supplies three-phase AC power.

[0062] Hereinafter, a description of the configuration of the simulator according to this embodiment that is common to the first embodiment will be omitted, and differences will be mainly described. FIG. 11 is a block diagram showing simulation models 60a to 60c as an example implemented by the simulator according to this embodiment.

[0063] 11, the simulator according to this embodiment has three simulation models 60a to 60c corresponding to the phases of the three-phase AC voltage. Each of the simulation models 60a to 60c includes a voltage signal V of the a-phase, which is shifted in phase by 0°, 120°, and −120°. Aa , b-phase voltage signal V Ab , c-phase voltage signal V Ac The simulator also includes power supply elements 51a to 51c that supply the feedback voltage. The simulator also includes a feedback voltage calculation model 100 (see FIG. 12) that is shared by the simulation models 60a to 60c.

[0064] 11, for convenience of explanation, DUT 5 is shown as three models corresponding to each phase, but DUT 5 is hardware and a common one is used. That is, the voltage signals of each phase output from each simulation model 60a to 60c are converted from digital signals to analog signals in the interface, and three-phase AC voltages corresponding to these analog signals are output to a voltage source common to the three phases of DUT 5.

[0065] In the simulation models 60a to 60c according to this embodiment, the impedance characteristics of the DUT 5 are measured using dq axis transformation, which allows instantaneous voltages and instantaneous currents to be treated as direct currents. By treating the impedance characteristics as those on the dq axes in this way, it becomes possible to facilitate control and calculation.

[0066] 12 is a block diagram of an example of a feedback voltage calculation model 100 according to this embodiment. As shown in FIG. 12, the feedback voltage calculation model 100 includes, for example, a three-phase / two-phase conversion element 101, a compensation voltage calculation element 102, a two-phase / three-phase conversion element 103, and an addition element 104.

[0067] The three-phase / two-phase conversion element 101 converts the current signal I 1a ,I 1b ,I 1c are input, and these three-phase AC currents are converted into the d-axis current signal I 1d and the q-axis current signal I 1q Similarly, the three-phase / two-phase conversion element 101 converts the current signal I 2a ,I 2b ,I 2c are input, and these three-phase AC currents are converted into the d-axis current signal I 2d and the q-axis current signal I 2q Convert to.

[0068] The compensation voltage calculation element 102 includes, for example, a virtual impedance element that indicates the impedance characteristics of the DUT 5 in the dq coordinate system as a function. FIG. 13 is a block diagram showing a model of the compensation voltage calculation element 102 as an example according to this embodiment. As shown in FIG. 13, the compensation voltage calculation element 102 calculates four dq-axis impedance components Z dd ,Z qq ,Z dq ,Z qd The virtual impedance elements 91 to 94 are set as functions. The d-axis current signal I 1d and the d-axis current signal I of DUT5 2d The difference current signal between the q-axis current signal and the 1q and the q-axis current signal I of DUT5 2q By inputting the differential current signal between Rd and the q-axis voltage compensation signal V Rq is calculated.

[0069] The two-phase / three-phase conversion element 103 converts the d-axis voltage compensation signal V Rd and the q-axis voltage compensation signal V Rq By converting the voltage compensation signal V Ra ~V Rc Calculate. The summing element 104 outputs the voltage compensation signal V Ra ~V Rc and the voltage signal V of each phase of DUT5 2a ~V 2c By adding these, the feedback voltage signal V 1a_add ~V 2c_add Calculate. Feedback voltage signal V for each phase 1a_add ~V 2c_add are fed back to voltage source elements 61a to 61c included in simulation models 60a to 60c of the respective phases, causing voltage source elements 61a to 61c to generate voltages corresponding to the feedback voltages of the respective phases.

[0070] Next, a method for setting virtual impedance elements in the process of generating a simulation model implemented by the simulator according to this embodiment will be described. First, the impedance characteristics of the DUT 5 are obtained. Here, the impedance characteristics of the DUT 5, specifically, the four dq-axis impedance components Z dd ,Z qq ,Z dq ,Z qd Note that various known methods have been proposed for acquiring the dq-axis impedance characteristics of the hardware, and any of these methods may be appropriately adopted. Figure 14 shows the dq-axis impedance components Z for a network of linear circuit elements. dd ,Z qq An example of this is shown in Figure 15, where the dq-axis impedance component Z dq ,Z qd An example is shown below. Next, each dq axis impedance component Z dd ,Z qq ,Z dq ,Zqd is expressed as a function and set to each of the virtual impedance elements 91 to 94 of the compensation voltage calculation element 102 of the feedback voltage calculation model 100.

[0071] Once the virtual impedance elements 91 to 94 of the feedback voltage calculation model 100 have been set in this manner, the DUT 5 is ready for testing, and a simulation test of the DUT 5 is carried out at any timing.

[0072] Next, a simulation method using the simulation system will be described. Of the series of processes described below, some or all of the processes performed by the simulator are stored in the form of a program in the secondary storage device 13, for example, and are executed by the CPU (processor) 11 reading this program into the main storage device 12 and performing information processing and arithmetic operations.

[0073] In the simulation test, various events are simulated in the simulation models 60a to 60c of the simulator, and the voltage signal V 1a ~V 1c is output to each amplifier (not shown) via each DAC (not shown). Each amplifier converts the input voltage signal V 1a ~V 1c The voltage signal V in the power system model is supplied to the common voltage source of the DUT5. 1a ~V 1c The three-phase AC power based on the above is supplied to the DUT 5, and the DUT 5 operates. The current and voltage of the DUT 5 are measured by a current sensor and a voltage sensor (not shown), respectively, and these current signals I 2a ~I 2c , voltage signal V 2a ~V 2c are converted into digital signals by ADCs (not shown) and fed back to the virtual interfaces 42a to 42c, respectively.

[0074] Specifically, the current signal I of the DUT 5 2a ~I 2aare input to the current source elements 62a to 62c of the virtual interfaces 42a to 42c, respectively, and are also input to the feedback voltage calculation model 100 (FIG. 12). 2a ~V 2c is input to the feedback voltage calculation model 100. The feedback voltage calculation model 100 also receives the current signal I 1a ~I 1c is entered.

[0075] In the feedback voltage calculation model 100 of the simulator, each dq-axis impedance component Z of the dq-axis impedance characteristic of the DUT 5 dd ,Z qq ,Z dq ,Z qd The virtual impedance elements 91 to 94 are set as functions of the three-phase current signal I 2a ~I 2c is converted to the d-axis current signal I 2d and q-axis current signal I 2q , and the three-phase current signal I of the power system model 1a ~I 1c is converted to the d-axis current signal I 1d and q-axis current signal I 1q Using the d-axis voltage compensation signal V Rd , q-axis voltage compensation signal V Rq is calculated.

[0076] And the d-axis voltage compensation signal V Rd , q-axis voltage compensation signal V Rq The voltage compensation signal V Ra ~V Rc and calculate the voltage compensation signal V Ra ~V Rc and the voltage signal V of each phase of DUT5 2a ~V 2c and the feedback voltage signal V 1a_add ~V 1c_add The feedback voltage signal V 1a_add ~V 1c_addare fed back to the voltage source elements 61a to 61c included in the simulation models 60a to 60c of the respective phases. As a result, the voltage source elements 61a to 61c generate the feedback voltage signals V 1a_add ~V 1c_add Then, by repeating this process, the simulation is performed sequentially.

[0077] As described above, according to this embodiment, the simulator is equipped with a plurality of simulation models provided corresponding to each phase of the three-phase AC power. The simulator uses virtual impedance elements 91 to 94 in which each component of the dq-axis impedance characteristic of the test object is set as a function, and a d-axis current signal I of the DUT 5. 2d and q-axis current signal I 2q , and the d-axis current signal I of the power system model 1d and q-axis current signal I 1q and the dq-axis voltage compensation signal V Rd ,V Rq Furthermore, the simulator calculates the dq-axis voltage compensation signal V Rd ,V Rq is converted into 2-phase / 3-phase voltage compensation signal V Ra ~V Rc Then, the voltage compensation signal V for each phase is calculated. Ra ~V Rc and the voltage signal V for each phase of DUT5 2a ~V 2c and the feedback voltage signal V for each phase 1a_add ~V 1c_add Calculate the following.

[0078] For example, conventional circuit-simulated impedance elements cannot directly simulate the dq impedance characteristics calculated from dq voltage signals and dq current signals. Therefore, it is necessary to convert the dq impedance characteristics from the dq axis (synchronous frame) to three-phase AC (stationary frame), and then identify the impedance characteristics using a network of linear circuit elements.

[0079] In contrast, in this embodiment, virtual impedance elements 91 to 94 are used in which the dq-axis impedance characteristics are set as functions. This makes it possible to eliminate the need for processes such as axis conversion for the dq-axis impedance characteristics and the process of identification using a circuit. As a result, it becomes possible to easily incorporate the impedance characteristics of the DUT 5 in a three-phase AC system into a simulation model. Furthermore, because the impedance characteristics are expressed as functions, it is expected that simulation accuracy will be improved compared to when conventional circuit-simulated impedance elements are used, and improved simulation accuracy is also expected.

[0080] It should be noted that the second and third embodiments described above can also be applied to this embodiment. For example, as in the second embodiment described above, a circuit-simulated impedance element may be connected in series to the voltage source elements 61a to 61c of each of the simulation models 60a to 60c. In this case, part of the impedance characteristics of the DUT 5 is assigned to the circuit-simulated impedance element, and the remaining impedance characteristics are assigned to each virtual impedance element of the compensation voltage calculation element.

[0081] Furthermore, as in the third embodiment described above, in each of the simulation models 60a to 60c, a circuit-mimicking impedance element having an arbitrary impedance characteristic may be connected in series to the voltage source element 61a to 61c of each of the simulation models 60a to 60c, and a voltage correction calculation model may be provided that calculates a voltage correction signal to offset the voltage drop caused by the circuit-mimicking impedance element.

[0082] Although the present disclosure has been described above using embodiments, the technical scope of the present disclosure is not limited to the scope described in the above embodiments. Various modifications or improvements can be made to the above embodiments without departing from the gist of the disclosure, and such modifications or improvements are also included in the technical scope of the present disclosure. Furthermore, the above embodiments may be combined as appropriate. Furthermore, the processing flow described in the above embodiment is also an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be rearranged within the scope of the present disclosure.

[0083] For example, in each of the above-described embodiments, the impedance characteristic is used as the electrical characteristic related to the resistance of the DUT 5. However, this is not limiting. For example, the admittance characteristic may be used as the electrical characteristic related to the resistance.

[0084] Furthermore, in each of the above-described embodiments, a virtual impedance characteristic was used in which part or all of the impedance characteristic was set as a function, but the method of virtually expressing electrical characteristics is not limited to this, and the impedance characteristic may be set as a non-function such as table data (e.g., a data string). For example, as shown in FIG. 16, the electrical characteristic is given as a feedback value (input value), and the electrical characteristic Z' is calculated in a multiplication element 72a. B is multiplied by the differential current signal ΔI output from the subtraction element 71 to obtain the voltage compensation signal V R It is also possible to calculate the following.

[0085] In addition, in the above-described embodiments, a feedback voltage is output to the voltage source elements 61, 61a to 61c, and the voltage values ​​output from the voltage source elements 61, 61a to 61c are compensated for, but this is not limiting. For example, compensation may be performed on the current source elements 62, 62a to 62c instead of the voltage source elements 61, 61a to 61c. In this case, a current compensation value and a feedback current signal are calculated using the same thinking as in the above-described embodiments, and the feedback current signal is output to the current source elements 62, 62a to 62c of the simulation model.

[0086] 17, a current compensation signal I R17 shows an example of a block diagram of the virtual interface 42d when feeding back the impedance element Z. As shown in FIG. 17, the virtual interface 42d includes a feedback current calculation model (feedback current calculation unit) 70d. AB represents the coupling impedance between the power system model 41 and the DUT 5. In addition, in the above-described FIGS. 3, 5, and 11, as in FIG. 17, the impedance element Z AB may be provided.

[0087] The feedback current calculation model 70d uses the virtual impedance (virtual electrical characteristic element), the voltage signal of the DUT 5, and the voltage signal of the power system model 41 to generate a current compensation signal I R and calculates the current compensation signal I R and the current signal I2 of the DUT 5, a feedback current signal I1 is calculated as a feedback electrical signal, and the feedback current signal I1 is output to the current source element 62 of the simulation model.

[0088] Fig. 18 is a block diagram illustrating an example of the feedback current calculation model 70d. As shown in Fig. 18, the feedback current calculation model 70d includes a subtraction element (subtraction unit) 71d, a compensation current calculation element (compensation current calculation unit) 72d, and an addition element (addition unit) 73d.

[0089] The subtraction element 71d acquires, for example, a voltage signal V1 of the power system model 41 and a voltage signal V2 of the DUT 5, and outputs a differential voltage signal ΔV (=V1−V2) between them. The compensation current calculation element 72d calculates the impedance characteristic (for example, an electrical characteristic related to resistance) Z of the DUT 5. B The virtual impedance element (in other words, the virtual admittance element Y B '=1 / Z B The compensation current calculation element 72d calculates the current compensation signal I using the virtual impedance element and the differential voltage signal ΔV. RSpecifically, the compensation current calculation element 72d calculates the virtual admittance element (Y B '=1 / Z B ') and the differential voltage signal ΔV to obtain the current compensation signal I R Calculate the following.

[0090] The summing element 73d outputs the current compensation signal I R and the current signal I2 of the DUT 5 to calculate the feedback current signal I1. The feedback current signal I1, which is the output of the adding element 73d, is input to the current source element 62. As a result, a virtual current corresponding to the feedback current signal I1′ is generated by the current source element 62. In this way, by introducing a virtual impedance into the feedback current signal I1', it is expected that the same effects as those of the first embodiment described above can be obtained.

[0091] The above aspects can also be applied to the second and third embodiments in the same manner. For example, in a simulation model corresponding to each phase of the three-phase AC power according to the third embodiment, when current compensation is performed on the current source elements 62a to 62c, a compensation current calculation element 102a shown in Fig. 19 may be used. For example, as shown in Fig. 19, virtual admittance elements 91a to 94a in which the dq-axis admittance characteristics of the DUT 5 are set as functions, and a d-axis voltage signal V 1d and q-axis voltage signal V 1q , and the d-axis voltage signal V of the power system model 2d and q-axis voltage signal V 2q and the dq-axis current compensation signal I Rd ,I Rq and calculates the dq-axis current compensation signal I Rd ,I Rq is converted into 2-phase / 3-phase current compensation signal I Ra ~I Rc and calculates the current compensation signal I Ra ~I Rc and the current signal I for each phase of DUT5 2a ~I 2cand the feedback current signal I 1a_add ~I 1c_add Calculate the following. This makes it possible to expect the same effect as when voltage compensation is performed on voltage source elements 61a to 61c.

[0092] The simulator, simulation method, and computer-readable recording medium described in each of the above-described embodiments can be understood, for example, as follows.

[0093] A simulator (3) according to a first aspect of the present disclosure includes a simulation model (33, 33a, 33b) including a power system model (41) that models a power system to which a test object (5) is connected, and is connected to the test object (5) that is hardware via an interface (2) to test the operation of the test object by executing a simulation of the simulation model. The simulator (3) includes one or more memories (13) that store the simulation model and a program, and one or more processors (11) that execute the program. The one or more processors calculate a compensation signal for compensating an output of a power supply element of the simulation model using a virtual electrical characteristic element that virtually represents some or all of the electrical characteristics related to the resistance of the test object, an electrical signal of the test object, and an electrical signal of the power system model, calculates a feedback electrical signal using the compensation signal and the electrical signal of the test object, and outputs the feedback electrical signal to a power supply element (61, 61a to 61c, 62, 62a to 62c) of the simulation model.

[0094] According to the above aspect, by using virtual electrical characteristic elements that virtually represent the electrical characteristics of a test specimen, it becomes possible to model the electrical characteristics of a test specimen that have been difficult to simulate using a circuit network of linear circuit elements as in the past. This makes it possible to effectively reduce simulation errors caused by the presence of interfaces, and is expected to improve the accuracy of the simulation. It is also expected to improve the stability of the power system model and the actual equipment. Furthermore, by using virtual electrical characteristic elements, it is possible to eliminate the need to identify circuit elements (resistors, inductors, capacitors, etc.) that was required when using circuit-simulated impedance, making it possible to easily construct a simulation model.

[0095] In a simulator according to a second aspect of the present disclosure, in the above-mentioned first aspect, the power supply element is a voltage source element (61, 61a to 61c), and the one or more processors use the virtual electrical characteristic element, a current signal of the test specimen, and a current signal of the power system model to calculate a voltage compensation signal as the compensation signal, use the voltage compensation signal and a voltage signal of the test specimen to calculate a feedback voltage signal as the feedback electrical signal, and output the feedback voltage signal to the power supply element of the simulation model.

[0096] According to the above aspect, it is possible to reflect a voltage compensation signal that compensates for a simulation error due to the presence of an interface in a voltage source element of a simulation model.

[0097] In a simulator according to a third aspect of the present disclosure, in the first aspect, the power supply element is a current source element (62, 62a to 62c), and the one or more processors use the virtual electrical characteristic element, a voltage signal of the test piece, and a voltage signal of the power system model to calculate a current compensation signal as the compensation signal, use the current compensation signal and a current signal of the test piece to calculate a feedback current signal as the feedback electrical signal, and output the feedback current signal to the power supply element of the simulation model.

[0098] According to the above aspect, it is possible to reflect a current compensation signal that compensates for a simulation error due to the presence of an interface in a current source element of a simulation model.

[0099] A simulator according to a fourth aspect of the present disclosure is any one of the first to third aspects, in which, in the simulation model, a circuit-simulated electrical characteristic element (74, 74a) including at least one of a resistor element (R), an inductor element (L), and a capacitor element (C) is connected in series or parallel to the power supply element (61, 61a to 61c, 62, 62a to 62c).

[0100] According to the above-described embodiment, it is possible to mitigate current changes in the simulation model. As a result, it is expected that the stability of the closed-loop system will be maintained even if the current in the simulation model suddenly changes. It is also expected to be effective in reducing system stability caused by signal transmission delays due to the presence of an interface.

[0101] In a simulator according to a fifth aspect of the present disclosure, in the above-mentioned fourth aspect, the virtual electrical characteristic element is set to a part of the electrical characteristics of the test piece, and the circuit-simulated electrical characteristic element is an element that simulates the remaining electrical characteristics of the test piece.

[0102] According to the above-described embodiment, it is possible to mitigate current changes in the simulation model. As a result, it is expected that the stability of the closed-loop system will be maintained even if the current in the simulation model suddenly changes. It is also expected to be effective in reducing system stability caused by signal transmission delays due to the presence of an interface.

[0103] A simulator according to a sixth aspect of the present disclosure is the same as that of the fourth aspect, wherein all of the electrical characteristics of the test piece are set in the virtual electrical characteristic element, and the one or more processors calculate a correction signal using a virtual circuit element that virtually represents the electrical characteristics of the circuit-mimicking electrical characteristic element, an electrical signal of the test piece, and an electrical signal of the power system model, and calculates the feedback electrical signal using the compensation signal, the correction signal, and the electrical signal of the test piece.

[0104] According to the above-described embodiment, it is possible to mitigate current changes in the simulation model. As a result, it is expected that the stability of the closed-loop system will be maintained even if the current in the simulation model suddenly changes. It is also expected to be effective in reducing system stability caused by signal transmission delays due to the presence of an interface.

[0105] A simulator according to a seventh aspect of the present disclosure is the simulator of any one of the first to sixth aspects, wherein the electrical characteristic is an impedance characteristic or an admittance characteristic.

[0106] The simulator according to an eighth aspect of the present disclosure is the simulator of the first aspect described above, which includes a plurality of the simulation models, each of which is provided corresponding to a phase of three-phase AC power, and the one or more processors calculate dq-axis compensation signals using the virtual electrical characteristic elements that virtually represent the dq-axis electrical characteristics of the test specimen, the dq-axis electrical signals of the test specimen, and the dq-axis electrical signals of the power system model, perform two-phase / three-phase conversion on the dq-axis compensation signals to calculate compensation signals for each phase, and calculate the feedback electrical signals for each phase using the compensation signals for each phase and the electrical signals for each phase of the test specimen.

[0107] According to the above aspect, it is possible to improve the accuracy of simulation even in a power system that supplies three-phase AC power, and it is also expected that the stability of the power system model will be improved. In addition, by using virtual electrical characteristic elements, it is possible to eliminate the need for identification and axis conversion of circuit elements (resistors, inductors, capacitors, etc.) that were required when using circuit-simulated impedance, and it is possible to easily incorporate the impedance characteristics of a test specimen in a three-phase AC system into a simulation model.

[0108] A simulator according to a ninth aspect of the present disclosure is the same as that of the eighth aspect, wherein in each of the simulation models, a circuit-simulated electrical characteristic element including at least one of a resistor element (R), an inductor element (L), and a capacitor element (C) is connected in series to the power supply element (61a to 61c).

[0109] According to the above-described embodiment, it is possible to mitigate current changes in the simulation model. As a result, it is expected that the stability of the closed-loop system will be maintained even if the current in the simulation model suddenly changes. It is also expected to be effective in reducing system stability caused by signal transmission delays due to the presence of an interface.

[0110] A simulator according to a tenth aspect of the present disclosure is the same as that of the ninth aspect, in which the virtual electrical characteristic element is set to a portion of the electrical characteristics of the test specimen, and the circuit-simulated electrical characteristic element is an element that simulates the remaining electrical characteristics of the test specimen.

[0111] According to the above-described embodiment, it is possible to mitigate current changes in the simulation model. As a result, it is expected that the stability of the closed-loop system will be maintained even if the current in the simulation model suddenly changes. It is also expected to be effective in reducing system stability caused by signal transmission delays due to the presence of an interface.

[0112] A simulator according to an eleventh aspect of the present disclosure is the simulator of the ninth aspect, wherein the one or more processors calculate a compensation signal for each phase using a virtual circuit element that virtually represents the electrical characteristics of the circuit-simulated electrical characteristic element, the electrical signal of the test specimen, and the electrical signal for each phase of the power system model, and calculate the feedback electrical signal for each phase using the compensation signal for each phase, the compensation signal for each phase, and the electrical signal for each phase of the test specimen.

[0113] According to the above-described embodiment, it is possible to mitigate current changes in the simulation model. As a result, it is expected that the stability of the closed-loop system will be maintained even if the current in the simulation model suddenly changes. It is also expected to be effective in reducing system stability caused by signal transmission delays due to the presence of an interface.

[0114] A simulation method according to a twelfth aspect of the present disclosure is a simulation method for testing the operation of a test specimen, which is hardware, by connecting a simulator equipped with a simulation model including a power system model that models a power system to which a test specimen is connected via an interface and executing a simulation of the simulation model, wherein the simulator calculates a compensation signal for compensating the output of a power supply element of the simulation model using a virtual electrical characteristic element that virtually represents some or all of the electrical characteristics related to the resistance of the test specimen, an electrical signal of the test specimen, and an electrical signal of the power system model, calculates a feedback electrical signal using the compensation signal and the electrical signal of the test specimen, and outputs the feedback electrical signal to the power supply element of the simulation model.

[0115] A simulation method according to a thirteenth aspect of the present disclosure is the twelfth aspect, wherein in the simulation model, a circuit-simulated electrical characteristic element including at least one of a resistor element, an inductor element, and a capacitor element is connected in series or parallel to the power supply element.

[0116] A simulation method according to a fourteenth aspect of the present disclosure is the thirteenth aspect, wherein the virtual electrical characteristic element is set to a portion of the electrical characteristics of the test specimen, and the circuit-simulated electrical characteristic element is an element that simulates the remaining electrical characteristics of the test specimen.

[0117] A simulation method according to a 15th aspect of the present disclosure is the same as that of the 13th aspect, wherein all of the electrical characteristics of the test piece are set in the virtual electrical characteristic element, and the simulator calculates a correction signal using a virtual circuit element that virtually represents the electrical characteristics of the circuit-mimicking type electrical characteristic element, an electrical signal of the test piece, and an electrical signal of the power system model, and calculates the feedback electrical signal using the compensation signal, the correction signal, and the electrical signal of the test piece.

[0118] A simulation method according to a sixteenth aspect of the present disclosure is any one of the twelfth to fifteenth aspects, wherein the electrical characteristic is an impedance characteristic or an admittance characteristic.

[0119] The simulation method according to a seventeenth aspect of the present disclosure is the same as that of the twelfth aspect, further comprising: a plurality of the simulation models, each of which is provided corresponding to a phase of three-phase AC power; the simulator calculates a dq-axis compensation signal using the virtual electrical characteristic element virtually representing the dq-axis electrical characteristics of the specimen, the dq-axis electrical signals of the specimen, and the dq-axis electrical signals of the power system model; performs two-phase / three-phase conversion on the dq-axis compensation signal to calculate a compensation signal for each phase; and calculates the feedback electrical signal for each phase using the compensation signal for each phase and the electrical signal for each phase of the specimen.

[0120] A simulation method according to an 18th aspect of the present disclosure is the same as in the 17th aspect, in which, in each of the simulation models, a circuit-simulated electrical characteristic element including at least one of a resistor element, an inductor element, and a capacitor element is connected in series or parallel to the power supply element.

[0121] A simulation method according to a 19th aspect of the present disclosure is the 18th aspect, wherein the virtual electrical characteristic element is set to a portion of the electrical characteristics of the test piece, and the circuit-simulated electrical characteristic element is an element that simulates the remaining electrical characteristics of the test piece.

[0122] A simulation method according to a 20th aspect of the present disclosure is, in the above-mentioned 18th aspect, wherein the simulator calculates a compensation signal for each phase using a virtual circuit element that virtually represents the electrical characteristics of the circuit-simulated electrical characteristic element, the electrical signal of the test specimen, and the electrical signal for each phase of the power system model, and calculates the feedback electrical signal for each phase using the compensation signal for each phase, the compensation signal for each phase, and the electrical signal for each phase of the test specimen.

[0123] A non-transitory computer-readable recording medium according to a twenty-first aspect of the present disclosure records a program for causing a computer to function as a simulator according to any one of the first to eleventh aspects. [Explanation of symbols]

[0124] 1: Simulation system 2: Interface 3: Simulator 5 :DUT (specimen) 11: CPU (processor) 12: Main memory 13: Secondary storage device (memory) 14: Communication interface 15: External interface 16: Input device 17: Output device 21: Voltage source 25: Current sensor 26: Voltage sensor 31: Controller 32: Storage section 33: Simulation model 33a: Simulation model 33b: Simulation model 41: Power System Model 42: Virtual interface 42a: Virtual interface 42b: Virtual interface 42c: Virtual interface 42d: Virtual interface 51: Power element 51a: Power element 51b: Power element 51c: Power element 52: Impedance element 60a: Simulation model 60b: Simulation model 60c: Simulation model 61: Voltage source element 61a: Voltage source element 61b: Voltage source element 61c: Voltage source element 62: Current source element 62a: Current source element 62b: Current source element 62c: Current source element 70: Feedback voltage calculation model 70a: Feedback voltage calculation model 70d: Feedback current calculation model 71: Subtraction element 71d: Subtraction element 72: Compensation voltage calculation element 72a: Multiplication element 72d: Compensation current calculation element 73: Additive element 73d: Additive element 74: Circuit-simulated impedance element 74a: Circuit-simulating impedance element 80: Voltage correction calculation model 91: Virtual impedance element 91a: Virtual admittance element 92: Virtual impedance element 92a: Virtual admittance element 93: Virtual impedance element 93a: Virtual admittance element 94: Virtual impedance element 94a: Virtual admittance element 100: Feedback voltage calculation model 101: Three-phase / two-phase conversion element 102: Compensation voltage calculation element 102a: Compensation current calculation element 103: 2-phase / 3-phase conversion element 104: Additive element

Claims

1. A simulator that includes a simulation model including a power system model that models a power system to which a test subject is connected, connects to the test subject, which is hardware, via an interface, and tests the operation of the test subject by executing a simulation of the simulation model, one or more memories for storing the simulation model and a program; one or more processors that execute the program; Equipped with The one or more processors calculating a compensation signal for compensating an output of a power supply element of the simulation model using a virtual electrical characteristic element that virtually represents a part or all of the electrical characteristics related to the resistance of the test specimen, the electrical signal of the test specimen, and the electrical signal of the power system model; calculating a feedback electrical signal using the compensation signal and the electrical signal of the test piece; outputting the feedback electrical signal to a power supply element of the simulation model; Simulator.

2. the power supply element is a voltage source element; The one or more processors calculating a voltage compensation signal as the compensation signal using the virtual electrical characteristic element, the current signal of the device under test, and the current signal of the power system model; calculating a feedback voltage signal as the feedback electrical signal using the voltage compensation signal and the voltage signal of the test piece; The simulator of claim 1 , wherein the feedback voltage signal is output to a power supply element of the simulation model.

3. the power supply element is a current source element; The one or more processors calculating a current compensation signal as the compensation signal using the virtual electrical characteristic element, the voltage signal of the device under test, and the voltage signal of the power system model; calculating a feedback current signal as the feedback electrical signal using the current compensation signal and the current signal of the test piece; The simulator of claim 1 , wherein the feedback current signal is output to a power supply element of the simulation model.

4. 2. The simulator according to claim 1, wherein in the simulation model, a circuit-simulating electrical characteristic element including at least one of a resistor element, an inductor element, and a capacitor element is connected in series or parallel to the power supply element.

5. A part of the electrical characteristics of the test piece is set in the virtual electrical characteristic element, 5. The simulator according to claim 4, wherein the circuit-simulating type electrical characteristic elements are elements that simulate the remaining electrical characteristics of the electrical characteristics of the test piece.

6. All of the electrical characteristics of the test specimen are set in the virtual electrical characteristic element, The one or more processors calculating a correction signal using a virtual circuit element that virtually represents the electrical characteristic of the circuit-simulation-type electrical characteristic element, the electrical signal of the test specimen, and the electrical signal of the power system model; 5. The simulator according to claim 4, wherein the feedback electrical signal is calculated using the compensation signal, the correction signal, and the electrical signal of the test object.

7. The simulator according to claim 1 , wherein the electrical characteristic is an impedance characteristic or an admittance characteristic.

8. a plurality of the simulation models; Each of the simulation models is provided corresponding to each phase of the three-phase AC power, The one or more processors calculating a compensation signal for the dq axes using the virtual electrical characteristic element virtually representing the electrical characteristics of the dq axes of the test specimen, the electrical signals for the dq axes of the test specimen, and the electrical signals for the dq axes of the power system model; converting the compensation signals of the d and q axes into two-phase / three-phase signals to calculate compensation signals for each phase; The simulator according to claim 1 , wherein the feedback electrical signal for each phase is calculated using the compensation signal for each phase and the electrical signal for each phase of the test specimen.

9. 9. The simulator according to claim 8, wherein in each of the simulation models, a circuit-simulating electrical characteristic element including at least one of a resistor element, an inductor element, and a capacitor element is connected in series or parallel to the power supply element.

10. A part of the electrical characteristics of the test piece is set in the virtual electrical characteristic element, 10. The simulator according to claim 9, wherein the circuit-simulating type electrical characteristic elements are elements that simulate the remaining electrical characteristics of the electrical characteristics of the test piece.

11. The one or more processors calculating a correction signal for each phase using a virtual circuit element in which the electrical characteristics of the circuit simulation-type electrical characteristic element are virtually represented, the electrical signal of the test specimen, and the electrical signal for each phase of the power system model; The simulator according to claim 9 , wherein the feedback electrical signal for each phase is calculated using the compensation signal for each phase, the correction signal for each phase, and the electrical signal for each phase of the test specimen.

12. A simulation method for testing an operation of a test object, which is hardware, by connecting a simulator having a simulation model including a power system model that models a power system to which a test object is connected via an interface, and executing a simulation of the simulation model, the method comprising: The simulator calculating a compensation signal for compensating an output of a power supply element of the simulation model using a virtual electrical characteristic element that virtually represents a part or all of the electrical characteristics related to the resistance of the test specimen, the electrical signal of the test specimen, and the electrical signal of the power system model; calculating a feedback electrical signal using the compensation signal and the electrical signal of the test piece; outputting the feedback electrical signal to a power supply element of the simulation model; Simulation method.

13. 13. The simulation method according to claim 12, wherein in the simulation model, a circuit-simulating electric characteristic element including at least one of a resistor element, an inductor element, and a capacitor element is connected in series or parallel to the power supply element.

14. A part of the electrical characteristics of the test piece is set in the virtual electrical characteristic element, 14. The simulation method according to claim 13, wherein the circuit-simulation type electrical characteristic elements are elements that simulate the remaining electrical characteristics of the electrical characteristics of the test piece.

15. All of the electrical characteristics of the test specimen are set in the virtual electrical characteristic element, The simulator calculating a correction signal using a virtual circuit element in which the electrical characteristics of the circuit-simulation-type electrical characteristic element are virtually represented, the electrical signal of the test piece, and the electrical signal of the power system model; The simulation method according to claim 13, wherein the feedback electrical signal is calculated using the compensation signal, the correction signal, and the electrical signal of the test object.

16. The simulation method according to claim 12 , wherein the electrical characteristic is an impedance characteristic or an admittance characteristic.

17. a plurality of the simulation models; Each of the simulation models is provided corresponding to each phase of the three-phase AC power, The simulator calculating a compensation signal for the dq axes using the virtual electrical characteristic element virtually representing the electrical characteristics of the dq axes of the test specimen, the electrical signals for the dq axes of the test specimen, and the electrical signals for the dq axes of the power system model; converting the compensation signals of the d and q axes into two-phase / three-phase signals to calculate compensation signals for each phase; The simulation method according to claim 12, wherein the feedback electrical signal for each phase is calculated using the compensation signal for each phase and the electrical signal for each phase of the test specimen.

18. 18. The simulation method according to claim 17, wherein in each of the simulation models, a circuit-simulating electrical characteristic element including at least one of a resistor element, an inductor element, and a capacitor element is connected in series or parallel to the power supply element.

19. A part of the electrical characteristics of the test piece is set in the virtual electrical characteristic element, 19. The simulation method according to claim 18, wherein the circuit-simulation type electrical characteristic elements are elements that simulate the remaining electrical characteristics of the electrical characteristics of the test piece.

20. The simulator calculating a correction signal for each phase using a virtual circuit element in which the electrical characteristics of the circuit simulation-type electrical characteristic element are virtually represented, the electrical signal of the test specimen, and the electrical signal for each phase of the power system model; 20. The simulation method according to claim 18, wherein the feedback electrical signal for each phase is calculated using the compensation signal for each phase, the correction signal for each phase, and the electrical signal for each phase of the device under test.

21. A non-transitory computer-readable recording medium on which a program for causing a computer to function as the simulator according to claim 1 is recorded.

Images