|
|
|
| Numerical Model Decoupling Acceleration Method with Numerical Integration Parallelism Construction Based on Computation Front in Real-Time Simulation |
| He Shaomin1, Zhang Zhe1, Lu Yiping1, Yang Huan1, Shen Jie2 |
1. College of Electrical Engineering Zhejiang University Hangzhou 310027 China;
2. Leadrive Technology (Shanghai) Co. Ltd Shanghai 201315 China |
|
|
|
Abstract The computation speed is the key performance of numerical simulation, which is the foundation and underlying core technology of intelligent computing. However, with the application of high switching- frequency power devices in electric drive systems, the constraint of short computation time has led to great challenges for computation speed in real-time or online numerical simulation. At the same time, with the trend of parallel architecture in digital platforms, parallel computing is considered an effective way to optimize the computation speed with short time constraints. However, the state-of-the-art numerical models and algorithms are based on serial computation, lacking of redundant parallelism. Therefore, the computation front design methodology is proposed to construct the redundant parallelism for numerical integration, so the numerical model can be decoupled and parallel computed based on the redundant parallelism to accelerate the numerical simulation.
Firstly, the relationship between numerical integration and algorithm structure in power electronic simulation is discussed, which is the key to the numerical solution of ordinary differential equations (ODE). The computation front involved in numerical integration optimization is proposed, and the redundant parallelism construction process of the optimization method is described based on the predictor-corrector method. Secondly, the influence of the proposed method on the numerical performance is evaluated from numerical precision and numerical stability. The parallel computing resources are utilized in the proposed method to improve the numerical precision without increasing the computation time. Although the numerical stability domain changes during the optimization process, the influence on numerical simulation is limited, especially in applications with small step sizes. Thirdly, the possibility of general application is discussed from the multistep-step integration method and high-order integration method, proving that the computation front can be extended to different integration methods. Finally, the parallel numerical model is designed and applied to the electrical drive system based on the redundant parallelism constructed by the proposed method. As a result, the model-level numerical acceleration is achieved.
The real-time simulation environment of hardware in the loop (HIL) is demonstrated to verify the proposed method. The real-time simulation with a serial computing model is compared with offline simulation in Simulink, so the effectiveness of self-defined HIL based on NI PXI is verified. Then, the real-time simulation with a parallel computing model is compared between the latency insertion method and the proposed method. The results show that the relative error with the proposed method is reduced to less than 3 %, and the numerical precision of parallel simulation is improved. Moreover, the speedup ratio and parallel efficiency are 1.72 and 57.2 %, respectively, which expands the step size selection range of real-time simulation.
The following conclusions can be drawn from the real-time simulation analysis: (1) The redundant parallelism of numerical integration can be constructed based on the computation front to realize parallel computation. (2) The local step size of numerical integration is potentially changed during optimization, which may affect the numerical performance. Thus, the proposed method with accuracy compensation is designed based on the predictor-corrector method, which can reduce the simulation error. (3) The parallel acceleration can be achieved without accuracy reduction, but the parallel efficiency is limited due to an unbalanced computation load, which could be discussed in future research.
|
|
Received: 31 May 2022
|
|
|
|
|
|
[1] 马伟明, 王东, 程思为, 等. 高性能电机系统的共性基础科学问题与技术发展前沿[J]. 中国电机工程学报, 2016, 36(8): 2025-2035.
Ma Weiming, Wang Dong, Cheng Siwei, et al.Common basic scientific problems and development of leading-edge technology of high performance motor system[J]. Proceedings of the CSEE, 2016, 36(8): 2025-2035.
[2] International Energy Agency.Global EV outlook 2020[Z]. 2020.
[3] 袁立强, 陆子贤, 孙建宁, 等. 电能路由器设计自动化综述—设计流程架构和遗传算法[J]. 电工技术学报, 2020, 35(18): 3878-3893.
Yuan Liqiang, Lu Zixian, Sun Jianning, et al.Design automation for electrical energy router-design work- flow framework and genetic algorithm: a review[J]. Transactions of China Electrotechnical Society, 2020, 35(18): 3878-3893.
[4] 江悦, 沈小军, 吕洪, 等. 碱性电解槽运行特性数字孪生模型构建及仿真[J]. 电工技术学报, 2022, 37(11): 2897-2908.
Jiang Yue, Shen Xiaojun, Lü Hong, et al.Con- struction and simulation of operation digital twin model for alkaline water electrolyzer[J]. Transactions of China Electrotechnical Society, 2022, 37(11): 2897-2908.
[5] Zhao Zhengming, Tan D, Shi Bochen, et al.A breakthrough in design verification of megawatt power electronic systems[J]. IEEE Power Electronics Magazine, 2020, 7(3): 36-43.
[6] 张栋, 范涛, 温旭辉, 等. 电动汽车用高功率密度碳化硅电机控制器研究[J]. 中国电机工程学报, 2019, 39(19): 5624-5634, 5890.
Zhang Dong, Fan Tao, Wen Xuhui, et al.Research on high power density SiC motor drive controller[J]. Proceedings of the CSEE, 2019, 39(19): 5624-5634, 5890.
[7] Mojlish S, Erdogan N, Levine D, et al.Review of hardware platforms for real-time simulation of elec- tric machines[J]. IEEE Transactions on Transportation Electrification, 2017, 3(1): 130-146.
[8] Ruba M, Nemes R O, Ciornei S M, et al.Digital twin real-time FPGA implementation for light electric vehicle propulsion system using EMR organi- zation[C]//2019 IEEE Vehicle Power and Propulsion Conference (VPPC), Hanoi, Vietnam, 2020: 1-6.
[9] 薛禹胜, 谢东亮, 薛峰, 等. 支持信息-物理-社会系统研究的跨领域交互仿真平台[J]. 电力系统自动化, 2022, 46(10): 138-148.
Xue Yusheng, Xie Dongliang, Xue Feng, et al.A cross-field interactive simulation platform for suppor- ting research on cyber-physical-social systems[J]. Automation of Electric Power Systems, 2022, 46(10): 138-148.
[10] 吴巨爱, 薛禹胜, 谢东亮, 等. 电动汽车参与电量市场与备用市场的联合风险调度[J/OL]. 电工技术学报, DOI: 10.19595/j.cnki.1000-6753.tces.221386.
Wu Juai, Xue Yusheng, Xie Dongliang, et al.The joint risk dispatch of electric vehicle in day-ahead electricity energy market and reserve market[J/OL]. Transactions of China Electrotechnical Society,DOI: 10.19595/j.cnki.1000-6753.tces.221386.
[11] 何绍民, 杨欢, 王海兵, 等. 电动汽车功率控制单元软件数字化设计研究综述及展望[J]. 电工技术学报, 2021, 36(24): 5101-5114.
He Shaomin, Yang Huan, Wang Haibing, et al.Review and prospect of software digital design for electric vehicle power control unit[J]. Transactions of China Electrotechnical Society, 2021, 36(24): 5101-5114.
[12] Shu Dewu, Wei Yingdong, Dinavahi V, et al.Cosimu- lation of shifted-frequency/dynamic phasor and elec- tromagnetic transient models of hybrid LCC-MMC DC grids on integrated CPU-GPUs[J]. IEEE Transa- ctions on Industrial Electronics, 2020, 67(8): 6517-6530.
[13] 郭琦, 卢远宏. 新型电力系统的建模仿真关键技术及展望[J]. 电力系统自动化, 2022, 46(10): 18-32.
Guo Qi, Lu Yuanhong.Key technologies and pro- spects of modeling and simulation of new power system[J]. Automation of Electric Power Systems, 2022, 46(10): 18-32.
[14] Allmeling J H, Hammer W P.PLECS-piece-wise linear electrical circuit simulation for Simulink[C]// Proceedings of the IEEE 1999 International Con- ference on Power Electronics and Drive Systems. PEDS'99, Hong Kong, China, 2002: 355-360.
[15] Bai Hao, Liu Chen, Breaz E, et al.A review on the device-level real-time simulation of power electronic converters: motivations for improving performance[J]. IEEE Industrial Electronics Magazine, 2021, 15(1): 12-27.
[16] Dufour C, Mahseredjian J, Bélanger J.A combined state-space nodal method for the simulation of power system transients[J]. IEEE Transactions on Power Delivery, 2011, 26(2): 928-935.
[17] Ould-Bachir T, Blanchette H F, Al-Haddad K.A network tearing technique for FPGA-based real-time simulation of power converters[J]. IEEE Transactions on Industrial Electronics, 2015, 62(6): 3409-3418.
[18] Milton M, Benigni A.Latency insertion method based real-time simulation of power electronic systems[J]. IEEE Transactions on Power Electronics, 2018, 33(8): 7166-7177.
[19] Lin Ning, Dinavahi V.Detailed device-level electro- thermal modeling of the proactive hybrid HVDC breaker for real-time hardware-in-the-loop simulation of DC grids[J]. IEEE Transactions on Power Elec- tronics, 2018, 33(2): 1118-1134.
[20] 张宏俊, 郝正航, 陈卓, 等. 适用于模块化多电平换流器实时仿真的建模方法[J]. 电力系统自动化, 2017, 41(7): 120-126.
Zhang Hongjun, Hao Zhenghang, Chen Zhuo, et al.Modeling method for real time simulation of modular multilevel converter[J]. Automation of Electric Power Systems, 2017, 41(7): 120-126.
[21] Hui S Y R, Christopoulos C. Modeling non-linear power electronic circuits with the transmission-line modeling technique[J]. IEEE Transactions on Power Electronics, 1995, 10(1): 48-54.
[22] Chalangar H, Ould-Bachir T, Sheshyekani K, et al.Methods for the accurate real-time simulation of high-frequency power converters[J]. IEEE Transa- ctions on Industrial Electronics, 2022, 69(9): 9613-9623.
[23] Grégoire L A, Blanchette H F, Bélanger J, et al.Real-time simulation-based multisolver decoupling technique for complex power-electronics circuits[J]. IEEE Transactions on Power Delivery, 2016, 31(5): 2313-2321.
[24] Cellier F E, Kofman E.Continuous system simu- lation[M]. New York, US: Springer, 2010.
[25] 陈丽容, 刘德贵. 求解刚性常微分方程的并行Rosenbrock方法[J]. 计算数学, 1998, 20(3): 251-260.
Chen Lirong, Liu Degui.Parallel Rosenbrock methods for stiff ordinary differential equations[J]. Mathematica Numerica Sinica, 1998, 20(3): 251-260.
[26] Liu Chen, Bai Hao, Zhuo Shengrong, et al.Real-time simulation of power electronic systems based on predictive behavior[J]. IEEE Transactions on Indu- strial Electronics, 2020, 67(9): 8044-8053.
[27] 李子润, 徐晋, 汪可友, 等. 电力电子换流器离散小步合成实时仿真模型[J]. 电工技术学报, 2022, 37(20): 5267-5277.
Li Zirun, Xu Jin, Wang Keyou, et al.A discrete small-step synthesis real-time simulation model for power converters[J]. Transactions of China Electro- technical Society, 2022, 37(20): 5267-5277.
[28] He Shaomin, Xu Zhiwei, Chen Min, et al.General derivation law with torque-free achieving of integral on-board charger on compact powertrains[J]. IEEE Transactions on Industrial Electronics, 2021, 68(2): 1791-1802.
[29] 章回炫, 范涛, 边元均, 等. 永磁同步电机高性能电流预测控制[J]. 电工技术学报, 2022, 37(17): 4335-4345.
Zhang Huixuan, Fan Tao, Bian Yuanjun, et al.Predictive current control strategy of permanent magnet synchronous motors with high performance[J]. Transactions of China Electrotechnical Society, 2022, 37(17): 4335-4345. |
|
|
|
2023, Vol. 38 
