CN104950693B - Improve the method and system of controller hardware assemblage on-orbit simulation accuracy - Google Patents
Improve the method and system of controller hardware assemblage on-orbit simulation accuracy Download PDFInfo
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- CN104950693B CN104950693B CN201510349696.3A CN201510349696A CN104950693B CN 104950693 B CN104950693 B CN 104950693B CN 201510349696 A CN201510349696 A CN 201510349696A CN 104950693 B CN104950693 B CN 104950693B
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Abstract
The present invention provides a kind of method and system for improving controller hardware assemblage on-orbit simulation accuracy, compile the control algolithm in response controller hardware-in-loop simulation system, simulation of power electronic module is controlled, the PWM count word pulse signal of master control set output is subjected to High frequency filter, generate modulating wave, by the modulating wave compared with the carrier signal generated under the small step-length simulation models of RTDS, obtain the control signal of simulation of power electronic module, the electric parameter and control parameter of controller hardware assemblage on-orbit system are set, run the controller hardware assemblage on-orbit system.In whole process, the PWM count word pulse signal of master control set output passes through High frequency filter, generate modulating wave, modulating wave is compared with the carrier signal in small step-length module, controller hardware assemblage on-orbit system is controlled using modulating wave, reduce sampling error, improve the accuracy and reliability of controller hardware assemblage on-orbit system.
Description
Technical field
The present invention relates to electric analog systems technology field, is imitated more particularly to controller hardware assemblage on-orbit system is improved
The method and system of true precision.
Background technology
HIL (Hardware-in-the-loop, hardware-in-loop simulation) provides a kind of one kind side of operating physical hardware
Method, the hardware shown on computer interface are to represent the function with this hardware.In order to obtain more useful result, computer
Emulation must be that real-time and synchronous mode is run, such a simulation step length just and clock it is equal.Importantly, emulation
Step-length must be sufficiently small accurately to ensure the dynamic of analogue system and transient performance, and provides the control and survey of enough physical hardwares
Measure the time.
HIL has the advantages of a lot of other method of testings does not have：It checks power system device repeatedly, or even can
To reach the test almost completely true to nature when not set up also to real system；It can reduce research in various extreme conditions simultaneously
Cost and risk, before practical operation maximized possibility come identification device hide have very big infringement the defects of；
When the stimulation for the hardware for not setting up system also is that digital physical hybrid simulation method inherently has transient response, this method exists
The interactivity of display system is possible to during final design.
In controller hardware assemblage on-orbit system in general simulation process, in RTDS (Real Time Digital
Simulator, real-time digital simulator) in build simulation of power electronic model, the analog quantity of output is defeated by D/A links
Go out, the analog quantity that master control set is sampled by D/A links, export PWM count word pulse signal through corresponding control algolithm, then pass through
Among A/D links input RTDS, sampled through excessive step-length, simulation of power electronic module is controlled, so as to form closed-loop simulation.But
In 50 μ s simulation step length, data sampling is carried out first, then carries out data processing, if the cycle of switch is less than sampling week
Phase, the malfunction of switching signal is may result in, now produces phantom error, influences simulation accuracy.
The content of the invention
Based on this, it is necessary to the problem of error be present for general control hardware-in-loop simulation system, there is provided one kind improves
The method of controller hardware assemblage on-orbit simulation accuracy, it is ensured that the degree of accuracy of controller hardware assemblage on-orbit and reliability.
A kind of method for improving controller hardware assemblage on-orbit simulation accuracy, controller hardware assemblage on-orbit system bag
The RTDS and master control set of interconnection are included, the RTDS is built-in with simulation of power electronic module, and the RTDS has big step-length to imitate
True and small step-length emulates two kinds of simulation models；
The method for improving controller hardware assemblage on-orbit simulation accuracy includes step：
The control algolithm in response controller hardware-in-loop simulation system is compiled, simulation of power electronic module is controlled
System；
The PWM count word pulse signal of master control set output is subjected to High frequency filter, generates modulating wave, the modulating wave is defeated
Enter RTDS；
By the modulating wave compared with the carrier signal generated under the small step-length simulation models of RTDS, power electronics is obtained
The control signal of emulation module；
According to the control signal of simulation of power electronic module, set controller hardware assemblage on-orbit system electric parameter and
Control parameter, run the controller hardware assemblage on-orbit system.
A kind of system for improving controller hardware assemblage on-orbit simulation accuracy, controller hardware assemblage on-orbit system bag
The RTDS and master control set of interconnection are included, the RTDS is built-in with simulation of power electronic module, and the RTDS has big step-length to imitate
True and small step-length emulates two kinds of simulation models；
The system for improving controller hardware assemblage on-orbit simulation accuracy includes：
Collector, for compiling the control algolithm in response controller hardware-in-loop simulation system, power electronics is imitated
True module is controlled；
Modulation module, the PWM count word pulse signal for master control set to be exported carry out High frequency filter, generate modulating wave,
The modulating wave is inputted into RTDS；
Comparison module, for the modulating wave to be compared with the carrier signal generated under the small step-length simulation models of RTDS
Compared with the control signal of acquisition simulation of power electronic module；
Module is run, for the control signal according to simulation of power electronic module, controller hardware assemblage on-orbit system is set
The electric parameter and control parameter of system, run the controller hardware assemblage on-orbit system.
The present invention improves the method and system of controller hardware assemblage on-orbit simulation accuracy, and compiling response controller is hard
Control algolithm in part assemblage on-orbit system, is controlled to simulation of power electronic module, the PWM count word that master control set is exported
Pulse signal carries out High frequency filter, generates modulating wave, the carrier wave that will be generated under the modulating wave and the small step-length simulation models of RTDS
Signal is compared, and obtains the control signal of simulation of power electronic module, sets the electric of controller hardware assemblage on-orbit system
Parameter and control parameter, run the controller hardware assemblage on-orbit system.In whole process, the PWM count of master control set output
Word pulse signal generates modulating wave, modulating wave uses compared with the carrier signal in small step-length module by High frequency filter
Modulating wave controls controller hardware assemblage on-orbit system, reduces sampling error, improves the standard of controller hardware assemblage on-orbit system
True property and reliability.
Brief description of the drawings
Fig. 1 is the flow of method one embodiment that the present invention improves controller hardware assemblage on-orbit simulation accuracy
Schematic diagram；
Fig. 2 is the flow for second embodiment of method that the present invention improves controller hardware assemblage on-orbit simulation accuracy
Schematic diagram；
Fig. 3 is the structure of system one embodiment that the present invention improves controller hardware assemblage on-orbit simulation accuracy
Schematic diagram；
Fig. 4 is the structure for second embodiment of system that the present invention improves controller hardware assemblage on-orbit simulation accuracy
Schematic diagram.
Embodiment
The method that the present invention improves controller hardware assemblage on-orbit simulation accuracy is based on following principle：
In controller hardware assemblage on-orbit system, it is made up of two parts, a part is RTDS and built among RTDS
Simulation of power electronic module, another part is that master control set uses the hardware master control borad based on FPGA+ARM, in simulation run,
PWM count word pulse caused by master control set is used to control the simulation of power electronic module in RTDS, so as to form closed-loop simulation.
RTDS devices have two kinds of simulation models in itself, and a kind of is the simulated environment of big step-length, and simulation step length can reach 50 μ s, general
Emulated for modules such as power systems, small step-length emulation, it is faster to be directed to the transient processes such as power electronics when another
Emulation module, now simulation step length is up to 2 μ s.Controller hardware assemblage on-orbit system in general simulation process is, in RTDS
Simulation of power electronic module is built, the analog quantity of output is exported by D/A (analog output module) link, master control set leads to
The analog quantity of D/A links sampling is crossed, exports PWM count word pulse signal through corresponding control algolithm, then (digital quantity is defeated by A/D
Enter) link input RTDS among, through excessive step-length sample, control simulation of power electronic module, so as to form closed-loop simulation.50
In μ s simulation step length, data sampling is carried out first, then carries out data processing, if the cycle of switch is less than the sampling period,
The malfunction of switching signal is may result in, now produces phantom error, influences simulation accuracy.
The present invention improves the PWM count word that the method for controller hardware assemblage on-orbit simulation accuracy exports master control set
Pulse signal forms power electronics control modulating wave analog quantity, passes through A/D (analog quantitys by the LC links with High frequency filter
Input module) link is input to small step-length module, and compared with the carrier signal in small step-length module, on the one hand reduces imitative
True step-length, on the other hand reduce the phantom error that switching signal malfunction is brought.The effective controller hardware that improves is in loop system
Simulation accuracy.
As shown in figure 1, a kind of method for improving controller hardware assemblage on-orbit simulation accuracy, controller hardware is in ring
Analogue system includes the RTDS and master control set being connected with each other, and RTDS is built-in with simulation of power electronic module, and RTDS has big step-length
Emulation and small step-length emulate two kinds of simulation models；
Improving the method for controller hardware assemblage on-orbit simulation accuracy includes step：
S100：The control algolithm in response controller hardware-in-loop simulation system is compiled, simulation of power electronic module is entered
Row control.
There is certain difference in different its control algolithm of controller hardware assemblage on-orbit system, control algolithm is to deposit in advance
It is stored in controller hardware assemblage on-orbit system, response is compiled to control algolithm can generate initial control instruction, real
Now to the initial control of simulation of power electronic module.
S200：The PWM count word pulse signal of master control set output is subjected to High frequency filter, modulating wave is generated, by modulating wave
Input RTDS.
Master control set uses the hardware master control borad based on FPGA+ARM, in simulation run, PWM count caused by master control set
Word pulse is used to control the simulation of power electronic module in RTDS, forms closed-loop simulation.Herein, master control set will be exported
PWM count word pulse signal inputs RTDS, in addition, master control set again by the LC links with High frequency filter after generating modulating wave
Before RTDS is exported A/D conversions can also be carried out to modulating wave.
S300：By modulating wave compared with the carrier signal generated under the small step-length simulation models of RTDS, electric power electricity is obtained
The control signal of sub- emulation module.
RTDS has big step-length emulation and small step-length to emulate two kinds of simulation models, obtains the small step-length simulation models of RTDS herein
The carrier signal of lower generation, this carrier signal can be triangle carrier signal, and modulating wave and triangle carrier signal are compared
Compared with the control signal of acquisition simulation of power electronic module.Controller hardware assemblage on-orbit system is controlled using modulating wave, reduction is adopted
Sample error, to realize precise control, emulation accurately purpose.
S400：According to the control signal of simulation of power electronic module, the electric of controller hardware assemblage on-orbit system is set
Parameter and control parameter, operation controller hardware-in-loop simulation system.
The method that the present invention improves controller hardware assemblage on-orbit simulation accuracy, compile response controller hardware in loop
Control algolithm in analogue system, simulation of power electronic module is controlled, the PWM count word pulse of master control set output is believed
Number carry out High frequency filter, generate modulating wave, modulating wave is compared with the carrier signal generated under the small step-length simulation models of RTDS
Compared with, obtain simulation of power electronic module control signal, set controller hardware assemblage on-orbit system electric parameter and control
Parameter, operation controller hardware-in-loop simulation system.In whole process, the PWM count word pulse signal of master control set output passes through
High frequency filter, modulating wave is generated, modulating wave is controlled compared with the carrier signal in small step-length module using modulating wave
Device hardware-in-loop simulation system, reduce sampling error, improve the accuracy and reliability of controller hardware assemblage on-orbit system.
As shown in Fig. 2 in one of the embodiments, step S200 specifically includes step：
S220：The PWM count word pulse signal of master control set output is subjected to High frequency filter, generates modulating wave；
S240：Exported after carrying out A/D conversions to modulating wave.
After generating modulating wave, exported after carrying out analog-to-digital conversion to modulating wave, be easy to modulating wave directly to be set by subsequent treatment
It is standby to read.
In one of the embodiments, modulating wave is compared with the carrier signal generated under the small step-length simulation models of RTDS
Compared with the control signal for obtaining simulation of power electronic module also has step before：
Obtain the carrier signal generated under the small step-length simulation models of RTDS；
The carrier signal generated under the storage small step-length simulation models of RTDS.
The carrier signal generated under the small step-length simulation models of RTDS is stored, is advantageous to the access of finishing operations, together
When also avoid fortuitous event from causing the loss of data.
In one of the embodiments, the control algolithm in response controller hardware-in-loop simulation system is compiled, to electric power
Electronic simulation module also has step before being controlled：
Initialize simulation of power electronic module.
Simulation of power electronic module is built in RTDS, it is necessary to enter to it before the work of simulation of power electronic module
Row initialization starts.
As shown in Fig. 2 in one of the embodiments, there is step after step S400：
S500：The control signal of record electricity electronic simulation module, the electric parameter of controller hardware assemblage on-orbit system
With control parameter and the run time of controller hardware assemblage on-orbit system, generating run daily record.
Running log can be with recording controller hardware-in-loop simulation system simulation of power electronic mould during history run
The control signal of block, the electric parameter of controller hardware assemblage on-orbit system and control parameter and controller hardware assemblage on-orbit
The run time of system, personnel easy to operation consult, and also allow for operating personnel according to these historical empirical datas, hard to controller
Part assemblage on-orbit system is debugged (fine setting), further improves the accuracy of controller hardware assemblage on-orbit system and reliable
Property.
As shown in figure 3, a kind of system for improving controller hardware assemblage on-orbit simulation accuracy, controller hardware is in ring
Analogue system includes the RTDS and master control set being connected with each other, and RTDS is built-in with simulation of power electronic module, and RTDS has big step-length
Emulation and small step-length emulate two kinds of simulation models；
Improving the system of controller hardware assemblage on-orbit simulation accuracy includes：
Collector 100, for compiling the control algolithm in response controller hardware-in-loop simulation system, to power electronics
Emulation module is controlled；
Modulation module 200, the PWM count word pulse signal for master control set to be exported carry out High frequency filter, generation modulation
Ripple, modulating wave is inputted into RTDS；
Comparison module 300, for by modulating wave compared with the carrier signal generated under the small step-length simulation models of RTDS,
Obtain the control signal of simulation of power electronic module；
Module 400 is run, for the control signal according to simulation of power electronic module, controller hardware assemblage on-orbit is set
The electric parameter and control parameter of system, operation controller hardware-in-loop simulation system.
The system that the present invention improves controller hardware assemblage on-orbit simulation accuracy, the compiling response control of collector 100
Control algolithm in device hardware-in-loop simulation system processed, is controlled to simulation of power electronic module, and modulation module 200 is by master control
The PWM count word pulse signal of device output carries out High frequency filter, generates modulating wave, and the modulating wave of comparison module 300 and RTDS is small
The carrier signal generated under step-length simulation model is compared, and obtains the control signal of simulation of power electronic module, runs module
400 set the electric parameter and control parameter of controller hardware assemblage on-orbit system, operation controller hardware-in-loop simulation system.
In whole process, the PWM count word pulse signal of master control set output generates modulating wave, modulating wave and small step by High frequency filter
Carrier signal in long module is compared, and is controlled controller hardware assemblage on-orbit system using modulating wave, is reduced sampling error,
Improve the accuracy and reliability of controller hardware assemblage on-orbit system.
As shown in figure 4, in one of the embodiments, modulation module 200 specifically includes：
Modulating unit 220, the PWM count word pulse signal for master control set to be exported carry out High frequency filter, generation modulation
Ripple；
AD conversion unit 240, for being exported after carrying out A/D conversions to modulating wave.
In one of the embodiments, the system for improving controller hardware assemblage on-orbit simulation accuracy is also wrapped
Include：
Acquisition module, for obtaining the carrier signal generated under the small step-length simulation models of RTDS；
Memory module, for storing the carrier signal generated under the small step-length simulation models of RTDS.
In one of the embodiments, the system for improving controller hardware assemblage on-orbit simulation accuracy is also wrapped
Include：
Initial module, for initializing simulation of power electronic module.
In one of the embodiments, the system for improving controller hardware assemblage on-orbit simulation accuracy is also wrapped
Include：
Logging modle 500, control signal, controller hardware assemblage on-orbit system for record electricity electronic simulation module
Electric parameter and the run time of control parameter and controller hardware assemblage on-orbit system, generating run daily record.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
- A kind of 1. method for improving controller hardware assemblage on-orbit simulation accuracy, it is characterised in that controller hardware is in ring Analogue system includes the RTDS and master control set being connected with each other, and the RTDS is built-in with simulation of power electronic module, the RTDS There are big step-length emulation and small step-length to emulate two kinds of simulation models；The method for improving controller hardware assemblage on-orbit simulation accuracy includes step：The control algolithm in response controller hardware-in-loop simulation system is compiled, simulation of power electronic module is controlled；The PWM count word pulse signal of master control set output is subjected to High frequency filter, modulating wave is generated, the modulating wave is inputted RTDS；By the modulating wave compared with the carrier signal generated under the small step-length simulation models of RTDS, simulation of power electronic is obtained The control signal of module；According to the control signal of simulation of power electronic module, electric parameter and the control of controller hardware assemblage on-orbit system are set Parameter, run the controller hardware assemblage on-orbit system；It is described by the modulating wave compared with the carrier signal generated under the small step-length simulation models of RTDS, obtain power electronics There is step before the control signal of emulation module：Obtain the carrier signal generated under the small step-length simulation models of RTDS；Store the carrier signal generated under the small step-length simulation models of the RTDS.
- 2. the method according to claim 1 for improving controller hardware assemblage on-orbit simulation accuracy, it is characterised in that The PWM count word pulse signal by master control set output carries out High frequency filter, generates modulating wave, the modulating wave is inputted RTDS specifically includes step：The PWM count word pulse signal of master control set output is subjected to High frequency filter, generates modulating wave；Exported after carrying out A/D conversions to the modulating wave.
- 3. the method according to claim 1 or 2 for improving controller hardware assemblage on-orbit simulation accuracy, its feature exist In the control algolithm in the compiling response controller hardware-in-loop simulation system, to simulation of power electronic module progress There is step before control：Initialize simulation of power electronic module.
- 4. the method according to claim 1 or 2 for improving controller hardware assemblage on-orbit simulation accuracy, its feature exist In, the control signal according to simulation of power electronic module, set controller hardware assemblage on-orbit system electric parameter and Control parameter, run the controller hardware assemblage on-orbit system and also have step afterwards：The control signal of record electricity electronic simulation module, the electric parameter and control parameter of controller hardware assemblage on-orbit system And the run time of the controller hardware assemblage on-orbit system, generating run daily record.
- 5. a kind of system for improving controller hardware assemblage on-orbit simulation accuracy, it is characterised in that controller hardware is in ring Analogue system includes the RTDS and master control set being connected with each other, and the RTDS is built-in with simulation of power electronic module, the RTDS There are big step-length emulation and small step-length to emulate two kinds of simulation models；The system for improving controller hardware assemblage on-orbit simulation accuracy includes：Collector, for compiling the control algolithm in response controller hardware-in-loop simulation system, to simulation of power electronic mould Block is controlled；Modulation module, the PWM count word pulse signal for master control set to be exported carry out High frequency filter, modulating wave are generated, by institute State modulating wave input RTDS；Acquisition module, for obtaining the carrier signal generated under the small step-length simulation models of RTDS；Memory module, for storing the carrier signal generated under the small step-length simulation models of the RTDS；Comparison module, for the modulating wave compared with the carrier signal generated under the small step-length simulation models of RTDS, to be obtained Obtain the control signal of simulation of power electronic module；Module is run, for the control signal according to simulation of power electronic module, controller hardware assemblage on-orbit system is set Electric parameter and control parameter, run the controller hardware assemblage on-orbit system.
- 6. the system according to claim 5 for improving controller hardware assemblage on-orbit simulation accuracy, it is characterised in that The modulation module specifically includes：Modulating unit, the PWM count word pulse signal for master control set to be exported carry out High frequency filter, generate modulating wave；AD conversion unit, for being exported after carrying out A/D conversions to the modulating wave.
- 7. the system of the raising controller hardware assemblage on-orbit simulation accuracy according to claim 5 or 6, its feature exist In, in addition to：Initial module, for initializing simulation of power electronic module.
- 8. the system of the raising controller hardware assemblage on-orbit simulation accuracy according to claim 5 or 6, its feature exist In, in addition to：Logging modle, control signal, controller hardware assemblage on-orbit system for record electricity electronic simulation module it is electric The run time of parameter and control parameter and the controller hardware assemblage on-orbit system, generating run daily record.
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| CN116545233B (en) * | 2023-07-06 | 2023-09-15 | 如果新能源科技(江苏)股份有限公司 | Controller for generating PWM signal, power conversion device and power supply system |
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Effective date of registration: 20200921 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Patentee before: GUANGZHOU POWER SUPPLY Co.,Ltd. |