Wind turbine dynamic model experiment platform inertia compensation method based on energy flow equivalence

Abstract

The application discloses a wind turbine dynamic model experiment platform rotational inertia compensation method based on energy flow equivalence. The application is based on the energy angle, and a rotational inertia compensation strategy based on energy flow equivalence is proposed by reproducing the energy flow direction of an actual wind turbine on a wind turbine dynamic model experiment platform. The rotational inertia of the wind turbine dynamic model experiment platform is obtained, the compensation torque is calculated directly by using the theoretical value of the aerodynamic torque and the electromagnetic torque, the aerodynamic torque instruction actually issued is calculated and corrected, the communication time delay of the driving side and the test side control loop of the wind turbine dynamic model experiment platform is obtained respectively, and finally the parameters of the time delay alignment module are determined according to the measurement results. Compared with the traditional rotational inertia compensation strategy based on the rotational speed difference, the rotational inertia compensation method provided by the application does not need to collect the transmission chain information, fundamentally eliminates the acceleration time delay, and has good stability and accuracy when simulating the wind turbine with a hundred times rotational inertia.

Description

Technical Field

[0001] This invention belongs to the technical field of wind turbine experimental platforms, and in particular, it is a method for compensating the rotational inertia of wind turbine experimental platforms based on energy flow equivalence. Background Technology

[0002] Wind turbine simulation test platforms are crucial equipment for conducting effective wind turbine experiments to deeply study wind power generation technology. One type is primarily used for experiments related to wind turbine speed and active power control, with a focus on simulating the mechanical characteristics of wind turbines. The rotational inertia of wind turbine simulation test platforms differs significantly from that of actual wind turbines. To reproduce the slow mechanical dynamics of wind turbines with large rotational inertia, rotational inertia compensation is necessary.

[0003] The most commonly used inertia compensation algorithm starts from the dynamic equations of the wind turbine experimental platform and modifies the driving torque issued by the towing side to make it have the same mechanical dynamic process as the actual wind turbine. When simulating higher rotational inertia multiples, this method requires the addition of a high-order filter in the compensation torque loop to suppress deviation response components and ensure stability. However, when the simulation multiple approaches 100 times, this filter will also filter out some normal dynamic processes, significantly reducing the compensation accuracy and causing the rotational speed dynamic trajectory of the wind turbine experimental platform to deviate from the rotational speed trajectory of the actual wind turbine. Therefore, it cannot meet the simulation requirements of rotational inertia multiples of more than 100 times.

[0004] Based on the above, there is an urgent need for an inertia compensation method that can balance the operational stability and simulation accuracy of the wind turbine simulator at high rotational inertia simulation multiples, in order to meet the experimental research requirements where the rotational inertia simulation multiple of the test bench exceeds 100 times. Summary of the Invention

[0005] The purpose of this invention is to address the problems of existing rotational inertia compensation methods by providing a rotational inertia compensation strategy for a wind-driven motor model experimental platform based on energy flow equivalence, which meets the simulation requirements of rotational inertia simulation multiples of over 100 times for the test platform.

[0006] The technical solution to achieve the purpose of this invention is: a method for compensating the rotational inertia of a wind-powered motor model experimental platform based on energy flow equivalence, the method comprising the following steps:

[0007] Step 1: Identify the wind turbine experimental platform and determine its moment of inertia J. s ;

[0008] Step 2: Calculate the compensation torque T based on the target moment of inertia to be simulated. comp Correcting the aerodynamic torque command T s ;

[0009] Step 3: Obtain the communication delay between the control loops on the towing side and the test side of the wind turbine experimental platform;

[0010] Step 4: Design a time delay alignment module based on the time delay measurement results to finally realize the rotational inertia compensation strategy.

[0011] Furthermore, in step 1, the moment of inertia J s The results were obtained through acceleration and deceleration balance experiments.

[0012] Further, in step 2, the compensation torque T is calculated based on the target moment of inertia to be simulated. comp Correcting the aerodynamic torque command T s Specifically:

[0013] By additionally adjusting the energy input to the experimental platform's driven end from the power grid, the difference in rotational kinetic energy caused by the difference in rotational inertia is compensated. This makes the energy process of the experimental platform's small rotational inertia, after being superimposed with the power grid's adjustment, consistent with the energy storage and release process of the simulated large rotational inertia.

[0014] Compensating torque T comp The calculation formula is:

[0015]

[0016] In the formula, T a The aerodynamic torque T calculated for the wind-powered motor model experimental platform g J is the electromagnetic torque calculated for the controller of the wind turbine experimental platform. t For the target rotational inertia that needs to be simulated, J s The moment of inertia of the wind-powered motor model experimental platform itself;

[0017] Corrected aerodynamic torque T s The calculation formula is:

[0018] T s =T a -T comp

[0019] Corrected aerodynamic torque T s This refers to the actual torque command issued by the towing side of the wind turbine experimental platform.

[0020] Furthermore, step 3, which involves obtaining the communication delay between the control loops on the towing side and the test side of the wind turbine experimental platform, specifically includes the following process:

[0021] Step 3-1: Adopt the torque command response experiment method. Send a torque reference command from the controller to the frequency converter. Set a buffer array in the controller. At the same time, record the torque command sequence and the torque response value sequence returned by the frequency converter. The time when the feedback value fully responds to the reference value is the total time delay of the control loop. Thus, obtain the time delays of the control loops on the driving side and the tested side.

[0022] Step 3-2: Determine the order a of the time delay of the control loop on the driving side and the order b of the time delay of the control loop on the tested side:

[0023]

[0024] In the formula, τ1 is the communication time delay duration of the control loop on the driving side, τ2 is the time delay duration of the control loop on the tested side, and T is the control period duration of the system.

[0025] Furthermore, the specific steps for designing the time delay alignment module in Step 4 are as follows:

[0026] Step 4-1: According to the time delay orders a and b obtained in Step 3, determine the time delay alignment parameter n1 of the control loop on the driving side of the wind turbine dynamic simulation experiment platform and the time delay alignment parameter n2 of the control loop on the tested side;

[0027] When a < b, the parameter value rule is:

[0028]

[0029] When a > b, the parameter value rule is:

[0030]

[0031] When a = b, it is considered that the time delays on both sides are already aligned, and the parameters n1 and n2 are both set to 0;

[0032] Step 4-2: In the actual controller of the wind turbine dynamic simulation experiment platform, add a delayed command issuing module to the control loops on the driving side and the tested side. Make the command on the driving side be issued after delaying n1 control cycles, and make the command on the tested side be issued after delaying n2 control cycles.

[0033] Compared with the prior art, the remarkable advantages of the present invention are as follows:

[0034] 1) The present invention directly calculates the compensation torque using the pneumatic torque and the electromagnetic torque, making the compensation torque loop open-loop with the transmission chain, achieving the purpose of improving the system stability.

[0035] 2) When the wind turbine dynamic simulation experiment platform applying the present invention is in an application scenario with a compensation multiple of the moment of inertia of more than a hundred times, it has better stability and a more accurate dynamic performance simulation effect.

[0036] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0037] Figure 1 This is a block diagram illustrating the principle of the wind-driven model experimental platform rotational inertia compensation method based on energy flow equivalence according to the present invention.

[0038] Figure 2 The flowchart illustrates the application of a wind-powered motor model experimental platform rotational inertia compensation method based on energy flow equivalence in an embodiment of the present invention.

[0039] Figure 3 The trajectory diagram of the wind turbine experimental platform with a rotational inertia simulation multiple of 100 is shown for applying the rotational inertia compensation method based on energy flow equivalence of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0042] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0043] In one embodiment, to address the problem that current rotational inertia compensation methods based on rotational speed difference cannot meet the simulation requirements of rotational inertia exceeding 100 times, a rotational inertia compensation method for a wind-powered motor model experimental platform based on energy flow equivalence is provided, combined with... Figure 1 The method includes the following steps:

[0044] Step 1: Identify the wind turbine experimental platform and determine its moment of inertia J. s ;

[0045] Step 2: Calculate the compensation torque T based on the target moment of inertia to be simulated. comp Correcting the aerodynamic torque command T s ;

[0046] Step 3: Obtain the communication delay between the control loops on the towing side and the test side of the wind turbine experimental platform;

[0047] Step 4: Design a time delay alignment module based on the time delay measurement results to finally realize the rotational inertia compensation strategy.

[0048] Furthermore, in one embodiment, the moment of inertia J in step 1 s The results were obtained through acceleration and deceleration balance experiments.

[0049] Furthermore, in one embodiment, step 2 involves calculating the compensation torque T based on the target moment of inertia to be simulated. comp Correcting the aerodynamic torque command T s Specifically:

[0050] By additionally adjusting the energy input to the experimental platform's driven end from the power grid, the difference in rotational kinetic energy caused by the difference in rotational inertia is compensated. This makes the energy process of the experimental platform's small rotational inertia, after being superimposed with the power grid's adjustment, consistent with the energy storage and release process of the simulated large rotational inertia.

[0051] Compensating torque T comp The calculation formula is:

[0052]

[0053] In the formula, T a The aerodynamic torque T calculated for the wind-powered motor model experimental platform g J is the electromagnetic torque calculated for the controller of the wind turbine experimental platform. t For the target rotational inertia that needs to be simulated, J s The moment of inertia of the wind-powered motor model experimental platform itself;

[0054] Corrected aerodynamic torque T s The calculation formula is:

[0055] T s =T a -T comp

[0056] Corrected aerodynamic torque T s This refers to the actual torque command issued by the towing side of the wind turbine experimental platform.

[0057] Further, in one embodiment, the specific process of obtaining the communication time delay of the drive side and the test side control loops of the fan dynamic simulation experiment platform in step 3 includes:

[0058] Step 3-1, adopt the torque command response experiment method. Send a torque reference command to the frequency converter through the controller, set a buffer array in the controller, and record the torque command sequence and the torque response value sequence returned by the frequency converter at the same time. The time when the feedback value fully responds to the reference value is the total time delay of the control loop, and thus obtain the time delays of the drive side and the test side control loops;

[0059] Step 3-2, determine the time delay order a of the drive side control loop and the time delay order b of the test side control loop:

[0060]

[0061] where τ1 is the communication time delay duration of the drive side control loop, τ2 is the time delay duration of the test side control loop, and T is the control period duration of the system.

[0062] Further, in one embodiment, the specific steps of designing the time delay alignment module in step 4 are as follows:

[0063] Step 4-1, according to the time delay orders a and b obtained in step 3, determine the time delay alignment parameter n1 of the drive side control loop and the time delay alignment parameter n2 of the test side control loop of the fan dynamic simulation experiment platform;

[0064] When a < b, the parameter value rule is:

[0065]

[0066] When a > b, the parameter value rule is:

[0067]

[0068] When a = b, it is considered that the time delays on both sides are already aligned, and the parameters n1 and n2 both take the value of 0;

[0069] Step 4-2, in the actual controller of the fan dynamic simulation experiment platform, add a delayed command issuing module to the drive side control loop and the test side control loop, and make the drive side command be issued after delaying n1 control cycles, and make the test side command be issued after delaying n2 control cycles. <s

[0070] In one embodiment, a rotational inertia compensation system for a fan dynamic simulation experiment platform based on energy flow equivalence is provided. The system includes:

[0071] The first module is used to identify the fan dynamic simulation experiment platform and determine its rotational inertia J s ;[[ID=4s5]]

[0072] The second module is used to calculate the compensation torque T based on the target moment of inertia to be simulated. comp Correcting the aerodynamic torque command T s ;

[0073] The third module is used to obtain the communication delay between the control loops of the towing side and the test side of the wind turbine experimental platform;

[0074] The fourth module is used to design a time delay alignment module based on the time delay measurement results, and finally realize the rotational inertia compensation strategy.

[0075] Specific limitations regarding the rotational inertia compensation system for the wind turbine experimental platform based on energy flow equivalence can be found in the limitations of the rotational inertia compensation method for the wind turbine experimental platform based on energy flow equivalence mentioned above, and will not be repeated here. Each module in the aforementioned rotational inertia compensation system for the wind turbine experimental platform based on energy flow equivalence can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0076] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0077] Step 1: Identify the wind turbine experimental platform and determine its moment of inertia J. s ;

[0078] Step 2: Calculate the compensation torque T based on the target moment of inertia to be simulated. comp Correcting the aerodynamic torque command T s ;

[0079] Step 3: Obtain the communication delay between the control loops on the towing side and the test side of the wind turbine experimental platform;

[0080] Step 4: Design a time delay alignment module based on the time delay measurement results to finally realize the rotational inertia compensation strategy.

[0081] For specific limitations on each step, please refer to the limitations on the rotational inertia compensation method for the wind-driven model experimental platform based on energy flow equivalence mentioned above, which will not be repeated here.

[0082] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0083] Step 1: Identify the wind turbine experimental platform and determine its moment of inertia J. s ;

[0084] Step 2: Calculate the compensation torque T based on the target moment of inertia to be simulated. comp Correcting the aerodynamic torque command T s ;

[0085] Step 3: Obtain the communication delay between the control loops on the towing side and the test side of the wind turbine experimental platform;

[0086] Step 4: Design a time delay alignment module based on the time delay measurement results to finally realize the rotational inertia compensation strategy.

[0087] For specific limitations on each step, please refer to the limitations on the rotational inertia compensation method for the wind-driven model experimental platform based on energy flow equivalence mentioned above, which will not be repeated here.

[0088] As a specific example, the invention will be further described in detail in one embodiment.

[0089] In this embodiment, the rotational inertia compensation method proposed in this invention is verified based on the basic parameters of NREL's 600kW horizontal axis wind turbine CART3 (controls advanced research turbine 3-bladed) model. The controller on the tested side adopts maximum power point tracking control, and its control coefficient is the optimal torque gain k. opt The basic parameters of this model are shown in Table 1 below.

[0090] Table 1. Model parameters of 600kW wind turbine

[0091]

[0092] The mathematical model of the rotational inertia compensation strategy for the wind-driven motor model experimental platform based on energy flow equivalence, as described in this invention, is as follows: Figure 2 As shown, the specific implementation includes the following steps:

[0093] Step 1: Identify the wind turbine experimental platform and obtain its moment of inertia J through acceleration and deceleration balancing experiments. s =0.72kgm 2 ;

[0094] Step 2, simulate the target moment of inertia J as needed. t =100J s =72kgm 2By additionally adjusting the energy input from the power grid to the driven end of the experimental platform, the difference in rotational kinetic energy caused by the difference in moment of inertia is compensated. This ensures that the energy storage and release process corresponding to the small moment of inertia of the experimental platform, after being superimposed with the power grid adjustment, is consistent with the energy storage and release process corresponding to the large moment of inertia being simulated. Compensation torque T comp The calculation result is:

[0095]

[0096] In the formula, T a The aerodynamic torque T calculated for the wind-powered motor model experimental platform g J is the electromagnetic torque calculated for the controller of the wind turbine experimental platform. t For the target rotational inertia that needs to be simulated, J s The moment of inertia of the wind-powered motor model experimental platform itself. The corrected aerodynamic torque T. s The calculation results are as follows:

[0097] T s =T a -T comp =0.01T a +0.99T g

[0098] Corrected aerodynamic torque T s This refers to the actual torque command issued by the towing side of the wind turbine experimental platform.

[0099] Step 3: Obtain the communication delay between the control loops on the towing side and the test side of the wind turbine experimental platform. The specific steps are as follows:

[0100] Step 3-1: Using the torque command response experiment method, a torque reference command is issued to the frequency converter through the controller. A buffer array is set in the controller, and the torque command sequence and the torque response value sequence returned by the frequency converter are recorded simultaneously. The time it takes for the feedback value to completely respond to the reference value is the total time delay of the control loop. The time delays of the control loops on the driven side and the tested side are obtained. The calculated time delay results are τ1 = 108ms and τ2 = 120ms.

[0101] Step 3-2, determine the time delay order 'a' of the control loop on the driven side and the time delay order 'b' of the control loop on the tested side:

[0102]

[0103] In the formula, τ1 is the communication delay of the control loop on the driven side, τ2 is the delay of the control loop on the tested side, and T is the control cycle duration of the system. Here, T = 40ms, and we can calculate a = 3 and b = 3.

[0104] Step 4: Design a time-delay alignment module based on the time-delay measurement results to ultimately implement the moment of inertia compensation strategy. The specific steps for designing the time-delay alignment module are as follows:

[0105] Step 4-1: Based on the time-delay orders a and b obtained in Step 3, confirm the time-delay alignment parameter n1 of the drive-side control loop and the time-delay alignment parameter n2 of the test-side control loop of the wind turbine dynamic simulation experiment platform.

[0106] When a < b, the parameter value-taking rules are as follows:

[0107]

[0108] When a > b, the parameter value-taking rules are as follows:

[0109]

[0110] When a = b, it is considered that the time delays on both sides are already aligned, and the parameters n1 and n2 both take the value of 0. At this time, since a = b = 3, take the parameters n1 = 0 and n2 = 0

[0111] Step 4-2: In the actual controller of the wind turbine dynamic simulation experiment platform, add a delayed instruction issuing module to the drive-side control loop and the test-side control loop, and make the drive-side instruction be issued after delaying n1 control cycles and the test-side instruction be issued after delaying n2 control cycles.

[0112] Considering that n1 = 0 and n = 0, in this example, there is no need to add an additional module in the actual controller to align the time delays. Taking the turbulent wind speed as the input, the operation trajectory of the wind turbine dynamic simulation experiment platform applying the moment of inertia compensation method based on energy flow equivalence of the present invention when the moment of inertia simulation multiple is 100 is as Figure 3 shown. The statistical results show that when the simulation multiple is 100 times, the experimental platform can operate stably, the rotational speed can track the change of the wind speed, and the operating rotational speed is very consistent with the actual rotational speed. The method of the present invention has good stability and accuracy when simulating a wind turbine with a large multiple of the moment of inertia, and meets the simulation requirements of the test bench with a moment of inertia simulation multiple exceeding a hundred times.

[0113] Compared with the traditional moment of inertia compensation strategy based on rotational speed difference, the moment of inertia compensation method proposed by the present invention does not need to collect information of the transmission chain, fundamentally eliminates the acceleration time delay, and has good stability and accuracy when simulating a wind turbine with a hundred-fold moment of inertia.

[0114] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. A method for compensating the rotational inertia of a wind-driven motor model experimental platform based on energy flow equivalence, characterized in that, The method includes the following steps: Step 1: Identify the wind turbine experimental platform and determine its moment of inertia. ; Step 2: Calculate the compensation torque based on the target moment of inertia to be simulated. Correcting aerodynamic torque commands ; Step 3: Obtain the communication time delay of the control loops on the driving side and the tested side of the wind turbine dynamic simulation experiment platform; Step 4: Design a time delay alignment module according to the time delay measurement results, and finally implement the moment of inertia compensation strategy; Step 2 involves calculating the compensation torque based on the target moment of inertia to be simulated. Correcting aerodynamic torque commands Specifically: By additionally adjusting the energy input from the power grid to the driving end of the experiment platform, compensate for the rotational kinetic energy difference caused by the moment of inertia difference, so that after the kinetic energy storage and release corresponding to the small moment of inertia of the experiment platform are superimposed with the adjustment of the power grid, the energy process is consistent with the kinetic energy storage and release process corresponding to the simulated large moment of inertia; Compensating torque The calculation formula is: In the formula, The aerodynamic torque calculated for the wind-powered motor model experimental platform. The electromagnetic torque calculated for the controller of the wind-powered motor model experimental platform. For the target rotational inertia that needs to be simulated, The moment of inertia of the wind-powered motor model experimental platform itself; Corrected aerodynamic torque The calculation formula is: Corrected aerodynamic torque This refers to the actual torque command issued by the towing side of the wind turbine experimental platform.

2. The method for compensating the rotational inertia of a wind-driven motor model experimental platform based on energy flow equivalence as described in claim 1, characterized in that, Moment of inertia in step 1 The results were obtained through acceleration and deceleration balance experiments.

3. The method for compensating the rotational inertia of a wind-driven motor model experimental platform based on energy flow equivalence as described in claim 1, characterized in that, The specific process of obtaining the communication time delay of the control loops on the driving side and the tested side of the wind turbine dynamic simulation experiment platform described in Step 3 includes: Step 3-1: Adopt the torque command response experiment method. Send a torque reference command to the frequency converter through the controller, set a buffer array in the controller, and record the torque command sequence and the torque response value sequence returned by the frequency converter at the same time. The time when the feedback value fully responds to the reference value is the total time delay of the control loop, and thus obtain the time delays of the control loops on the driving side and the tested side; Step 3-2: Determine the time delay order a of the control loop on the driving side and the time delay order b of the control loop on the tested side: In the formula, It is the communication delay duration of the drive-side control loop. It is the time delay of the control loop on the test side, and T is the control cycle length of the system.

4. The method for compensating the rotational inertia of a wind-driven motor model experimental platform based on energy flow equivalence as described in claim 3, characterized in that, The specific steps of designing the time delay alignment module in Step 4 are: Step 4-1: Based on the time delay orders a and b obtained in Step 3, determine the time delay alignment parameters of the control loop on the towing side of the wind turbine experimental platform. Time delay alignment parameters with the test-side control loop ; When a < b, the parameter value-taking rule is: When a > b, the parameter value-taking rule is: When a=b, it is assumed that the time delays on both sides are aligned, and the parameters... and All values ​​are 0; Step 4-2: In the actual controller of the wind turbine experimental platform, add a delayed command delivery module to both the towing-side control loop and the test-side control loop, delaying the towing-side command delivery. The control cycle is then issued again, causing a delay in the subject's command. The control cycle will be issued again.

5. A rotational inertia compensation system for a wind-driven motor model experimental platform based on energy flow equivalence, according to any one of claims 1 to 4, characterized in that, The system includes: The first module is used to identify the wind turbine experimental platform and determine its moment of inertia. ; The second module is used to calculate the compensation torque based on the target moment of inertia to be simulated. Correcting aerodynamic torque commands ; A third module, used to obtain the communication time delay of the control loops on the driving side and the tested side of the wind turbine dynamic simulation experiment platform; A fourth module, used to design a time delay alignment module according to the time delay measurement results and finally implement the moment of inertia compensation strategy.

6. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method described in any one of claims 1 to 4.

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