The integration of a large amount of power electronic devices into the power system brings great challenges to the technologies of electromagnetic transient real-time simulation.The recent research achievements in the field of real-time simulation of power electronic devices and power system integrated with power electronic devices are reviewed from multiple perspectives.In terms of application scenarios and utilization paradigms,the real-time simulation has been used in the hardware-in-the-loop test which requires strict synchronization with real-world time,and in other scenarios which simply require high efficiency.In terms of modeling and simulation methods,there are many commercial application cases,no matter the modeling and simulation based on the individual component,or the power electronic device modeling and simulation based on port characteristics or circuit equivalences.However,how to balance the efficiency and accuracy in the real-time simulation of the high-frequency and complex devices is still a hot and difficult point of current research.In terms of the real-time simulation hardware platform,computing chips with natural hardware parallelism,such as field programmable gate array(FPGA)and graphic processing unit(GPU),have become important choices other than CPUs.In particular,FPGAs are being increasingly used by commercial platforms,but most of the simulation algorithms are based on traditional frameworks,and the advantages in hardware architecture of FPGA have not been fully exploited.In addition,the problems of algorithm parallelism,strong stiffness and numerical stability in the real-time simulation of power electronic devices and power system integrated with power electronic devices still need to be further studied.
