A wind turbine dynamic characteristics simulation system considering speed deviation compensation

Abstract

The present invention relates to a wind turbine dynamic characteristics simulation system that takes into account speed deviation compensation, and belongs to the technical field of wind power generation. The simulation system includes: an electric motor, a position sensor, a speed calculation module, a feedback torque calculation module, a load torque observer module, a wind turbine simulation model module, a wind turbine speed calculation module, a reference torque calculation module, a torque controller, and a three-phase full-bridge converter. The control strategy of the simulation system integrates a model predictive control method, and uses a load torque observer to observe the torque of the wind turbine generator. The derived motor reference electromagnetic torque calculation formula includes a speed difference compensation term between the wind turbine system and the simulation system, so that the wind turbine simulation system has high simulation accuracy and is suitable for simulating the dynamic characteristics of wind turbines.

Description

Technical Field

[0001] The invention discloses a wind turbine dynamic characteristic simulation system considering rotation speed deviation compensation, belonging to the technical field of wind power generation. Background Art

[0002] Typically, the design, production, and practical application of a wind turbine require lengthy and arduous preparatory work, and consideration must be given to assessing possible extreme operating conditions. However, limited conditions pose significant challenges to experimental research in wind power generation technology. Wind turbine simulation technology offers an effective solution. This flexible approach allows simulation of wind turbines with varying performance levels with minimal software changes, saving time, effort, and cost.

[0003] Wind turbine simulation systems typically use motors with closed-loop torque (power) control (such as DC motors, asynchronous motors, permanent magnet synchronous motors, and brushless DC motors) to simulate the torque (power) output of actual wind turbines. Existing research has mostly focused on the steady-state characteristics of wind turbines, but studying only the steady-state characteristics of wind turbines is not practical for examining the entire system. Simulating the dynamic characteristics of wind turbines is essential because only by simulating the complete wind turbine characteristics can actual wind power generation systems be tested, thus avoiding the difficulties of on-site commissioning. Dynamic wind turbine simulation incorporates the differences in mechanical parameters between the motor and the actual wind turbine into the control strategy. This not only ensures that the simulated motor output power is consistent with that of the wind turbine in steady state, but also simulates the time-varying variations in actual unit speed and torque under varying wind speeds or load torque, making the simulation system more realistic.

[0004] The rotational inertia of an actual wind turbine is typically much larger than that of an electric motor. When wind speed fluctuates frequently, the actual wind turbine speed fluctuations are not very large. In contrast, a motor with smaller inertia will experience larger speed fluctuations, which in turn will cause generator power fluctuations. This phenomenon does not exist in actual systems, so inertia compensation is required for the simulated motor. Existing wind turbine dynamic simulation methods are mainly divided into speed closed-loop control simulation methods and torque closed-loop control simulation methods. Among them, the torque closed-loop control simulation method based on acceleration feedback is the most widely used because of its simple implementation. However, this method is prone to amplifying speed noise, and due to the one-step delay in acceleration feedback, it can easily cause the system to become unstable.

[0005] The torque closed-loop control simulation method based on load torque feedback solves this problem well. To make the motor and generator in the simulation system more independent, a load torque observer can be used to obtain the motor's load torque, i.e., the generator torque. Previous simulation methods based on load torque feedback typically only focused on ensuring that the acceleration of the simulation system and the wind turbine system were equal, but ignored the fact that if the speeds of the two systems were no longer consistent at a certain moment during the dynamic process, the speed value of the subsequent dynamic process simulation system would always deviate from the ideal value, thereby reducing the accuracy of the wind turbine simulation system. Therefore, it is necessary to provide a stable, flexible, and accurate wind turbine simulation method to provide a reliable foundation for the research of wind power generation technology in laboratory environments. Summary of the Invention

[0006] The purpose of the present invention is to address the defects of the existing technology and propose a wind turbine dynamic characteristics simulation system taking into account speed deviation compensation, so as to achieve the technical goal of further improving the simulation accuracy of the wind turbine simulation system based on load torque feedback.

[0007] In order to achieve the above objectives, the following technical solution is provided: a wind turbine dynamic characteristics simulation system considering speed deviation compensation comprises: a motor, a position sensor, a speed calculation module, a feedback torque calculation module, a load torque observer module, a wind turbine simulation model module, a wind turbine speed calculation module, a reference torque calculation module, a torque controller, and a three-phase full-bridge converter;

[0008] The motor is connected to the wind turbine through a transmission shaft. The motor input is connected to the output of the three-phase full-bridge converter. The rotating part of the position sensor is coaxially installed with the motor rotor, and the stationary part is fixed to the motor housing. The output of the position sensor is the motor angle signal θ. The input of the speed calculation module is θ, and the output is the motor rotor speed Ω. m ;

[0009] The input of the feedback torque calculation module is θ and the three-phase current i of the motor a 、i b 、i c , the output is the feedback torque T em ;

[0010] The input of the load torque observation module is Ω m 、T em , the output is the observed torque of the load torque observer The input of the wind turbine simulation model module is Ω m , the wind speed v generated by the wind speed model, and the output is the aerodynamic torque T equivalent to the high-speed shaft of the wind turbine model wt ;

[0011] The input of the wind turbine speed calculation module is Twt 、 The output is the speed of the wind turbine model equivalent to the high-speed shaft Ω wt * ;

[0012] The input of the reference torque calculation module is T wt ,Ω wt * ,Ω m 、 The output is the electromagnetic reference torque T of the motor em * ;

[0013] The torque controller input is T em * 、T em , the output is a switch signal;

[0014] The input of the three-phase full-bridge converter is the switching signal, and the output is i a 、i b 、i c ;

[0015] Under discrete control, the simulation system randomly generates a set of switching signals from the real-time simulation part of the model at the initial moment, transmits them to the motor drive part, acts on the three-phase full-bridge converter, and drives the motor. The working process of the simulation system is as follows:

[0016] In the motor drive part, the motor angle signal θ(k) output by the position sensor and the three-phase current i of the motor are respectively a (k), i b (k), i c( k) to sample and transmit to the real-time simulation part of the model, where k represents the kth moment;

[0017] In the real-time simulation part of the model, the input of the speed calculation module is θ(k), and the output is the motor rotor speed Ω m (k); the input of the feedback torque calculation module is θ(k) and i a (k), i b (k), i c (k), the output is the feedback torque T em (k); the input of the load torque observation module is Ω m (k), T em (k), the output is the observed torque of the load torque observer The input of the wind turbine simulation model module is Ω m (k), wind speed v(k), the output is the aerodynamic torque T of the wind turbine model equivalent to the high-speed shaft wt(k); The input of the wind turbine speed calculation module is the aerodynamic torque T of the wind turbine model equivalent to the high-speed shaft at time k-1 wt (k-1), the observed torque of the load torque observer at time k-1 The output is the speed of the wind turbine model equivalent to the high-speed shaft Ω wt * (k); calculate Ω respectively m (k) T wt (k),Ω wt * (k), these four quantities are input into the reference torque calculation module, and the module outputs the electromagnetic reference torque T of the motor. em * (k), T em * (k) and T em (k) As the input of the torque controller, it performs torque closed-loop control and outputs a switch control signal to the motor drive part;

[0018] In the motor drive part, the input of the three-phase full-bridge converter is the switch control signal. After the switch control signal is applied, the three-phase current is output, which drives the motor to rotate, and the motor drives the wind turbine to rotate. At time k+1, the angle signal θ(k+1) and the three-phase current i a (k+1), i b (k+1), i c (k+1) is sampled and the control of the next cycle is entered according to the above workflow.

[0019] In the simulation system, T em * (k) is calculated as follows:

[0020] Step 1: Based on the two-mass equivalent model, the discrete motion equations of the wind turbine simulation model and the simulated unit (motor and wind turbine) are listed respectively;

[0021] The discrete motion equations of the wind turbine simulation model (ignoring the friction coefficient) are used as the reference prediction model:

[0022]

[0023] Among them, J wt J is the moment of inertia of the wind turbine simulation model equivalent to the high-speed shaft; g is the moment of inertia of the wind turbine; Ω wt * (k+1) is the speed of the wind turbine simulation model equivalent to the high-speed shaft at time k+1; the sampling time of discrete control is T d ;

[0024] The discrete motion equation of the simulated unit (ignoring the friction coefficient) is used as the control object prediction model:

[0025]

[0026] Among them, J m is the moment of inertia of the motor; Ω m (k+1) is the rotor speed of the motor at time k+1;

[0027] Step 2: Set the cost function H in the model predictive control method;

[0028] H=[Ω wt * (k+1)-Ω m (k+1)] 2 (3)

[0029] Step 3: Calculate the speed Ω of the wind turbine model equivalent to the high-speed shaft at time k wt * (k), which is predicted at time k-1 according to formula (1):

[0030]

[0031] Among them, Ω wt * (k-1) is the speed of the wind turbine simulation model equivalent to the high-speed shaft at time k-1;

[0032] Step 4: Calculate the optimal control quantity T at time k em * (k), T em * (k) It should make the cost function H obtain the minimum value. Substitute equations (1) and (2) into (3), and H is the value of T em * (k) is a quadratic function of one variable. When the first derivative of H is zero, the solution is

[0033]

[0034] Among them, J MG =J m +J g ; J WT =J wt +J g ; It is the compensation term for the speed deviation between the wind turbine simulation model and the simulated unit at time k;

[0035] Step 5: According to formula (4) and (5), the specific T can be calculated. em *(k) value, T em * (k) and T em (k) As the input of the torque controller, the torque controller further performs torque closed-loop control on the motor.

[0036] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0037] This invention proposes a wind turbine dynamic characteristics simulation system that takes speed deviation compensation into account. This system incorporates a load torque observer to measure wind turbine torque, increasing the independence of the motor and wind turbine. Its control strategy incorporates model predictive control methods, accounting for the speed deviation between the simulation system and the wind turbine system at each moment. This compensation term for the speed deviation between the two systems is then added to the derived motor reference torque calculation formula. Compared with existing technologies, this proposed wind turbine simulation system improves simulation accuracy and more closely reflects the actual operation of high-inertia wind turbines. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is an equivalent schematic diagram of the simulation unit and the wind turbine generator set.

[0039] Figure 2 It is a structural schematic diagram of the wind turbine dynamic characteristics simulation system of the present invention. DETAILED DESCRIPTION

[0040] In order to better understand the content of the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and specific embodiments.

[0041] Figure 1 This is a schematic diagram of the equivalent of a simulated unit and an actual wind turbine. An actual wind turbine usually has a speed-increasing gearbox with a gearbox ratio of n. The relationship between the aerodynamic torque and moment of inertia of the low and high speed shafts is:

[0042]

[0043] Among them, T WT ′ is the aerodynamic torque of the low-speed shaft of the wind turbine; T WT ″ is the aerodynamic torque of the wind turbine generator set equivalent to the high-speed shaft; J WT ′ is the moment of inertia of the low-speed shaft of the wind turbine generator set; J WT ″ is the moment of inertia of the wind turbine equivalent to the high-speed shaft;

[0044] The motion equation of an actual wind turbine is (ignoring the friction coefficient):

[0045]

[0046] Among them, Tg is the torque of the wind turbine; J g is the moment of inertia of the wind turbine; Ω WT ″ is the speed of the wind turbine generator set equivalent to the high-speed shaft;

[0047] In the wind turbine dynamic characteristics simulation system of the present invention, a simulation model of an actual wind turbine is built to calculate the aerodynamic torque of the wind turbine. According to formula (2), the motion equation of the simulation model is (ignoring the friction coefficient):

[0048]

[0049] T wt J is the aerodynamic torque equivalent to the high-speed shaft of the wind turbine simulation model; wt The moment of inertia of the wind turbine simulation model equivalent to the high-speed shaft; Ω wt * The speed of the wind turbine simulation model equivalent to the high-speed shaft.

[0050] A schematic diagram of the structure of a wind turbine dynamic characteristics simulation system considering speed deviation compensation is shown in the figure. Figure 2 As shown, it includes: a motor, a position sensor, a speed calculation module, a feedback torque calculation module, a load torque observer module, a wind turbine simulation model module, a wind turbine speed calculation module, a reference torque calculation module, a torque controller, and a three-phase full-bridge converter.

[0051] The motor is connected to the wind turbine through a transmission shaft. The motor input is connected to the output of the three-phase full-bridge converter. The rotating part of the position sensor is coaxially installed with the motor rotor, and the stationary part is fixed to the motor housing. The output of the position sensor is the motor angle signal θ. The input of the speed calculation module is θ, and the output is the motor rotor speed Ω. m The input of the feedback torque calculation module is θ and the three-phase current i of the motor. a 、i b 、i c , the output is the feedback torque T em ;The input of the load torque observation module is Ω m 、T em , the output is the observed torque of the load torque observer The input of the wind turbine simulation model module is Ω m , the wind speed v generated by the wind speed model, and the output is the aerodynamic torque T equivalent to the high-speed shaft of the wind turbine model wt ; The input of wind turbine speed calculation module is T wt 、 The output is the speed of the wind turbine model equivalent to the high-speed shaft Ω wt * ;The input of the reference torque calculation module is T wt,Ω wt * ,Ω m 、 The output is the electromagnetic reference torque T of the motor em * ;The torque controller input is T em * 、T em , the output is the switching signal; the input of the three-phase full-bridge converter is the switching signal, and the output is i a 、i b 、i c .

[0052] Under discrete control, the simulation system randomly generates a set of switching signals at the initial moment from the real-time simulation part of the model. These signals are transmitted to the motor drive part, acting on the three-phase full-bridge converter to drive the motor. The workflow of the simulation system is as follows:

[0053] In the motor drive part, the motor angle signal θ(k) output by the position sensor and the three-phase current i of the motor are respectively a (k), i b (k), i c( k) is sampled and transmitted to the real-time simulation part of the model, where k represents the kth moment.

[0054] In the real-time simulation part of the model, the input of the speed calculation module is θ(k), and the output is the motor rotor speed Ω m (k); the input of the feedback torque calculation module is θ(k) and i a (k), i b (k), i c (k), the output is the feedback torque T em (k); the input of the load torque observation module is Ω m (k), T em (k), the output is the observed torque of the load torque observer The input of the wind turbine simulation model module is Ω m (k), wind speed v(k), the output is the aerodynamic torque T of the wind turbine model equivalent to the high-speed shaft wt (k); The input of the wind turbine speed calculation module is the aerodynamic torque T of the wind turbine model equivalent to the high-speed shaft at time k-1 wt (k-1), the observed torque of the load torque observer at time k-1 The output is the speed of the wind turbine model equivalent to the high-speed shaft Ω wt * (k); calculate Ω respectively m (k) T wt (k),Ω wt* (k), these four quantities are input into the reference torque calculation module, and the module outputs the electromagnetic reference torque T of the motor. em * (k), T em * (k) and T em (k) As the input of the torque controller, it performs torque closed-loop control and outputs a switch control signal, which is transmitted to the motor drive part.

[0055] In the motor drive part, the input of the three-phase full-bridge converter is the switch control signal. After the switch control signal is applied, the three-phase current is output, which drives the motor to rotate, and the motor drives the wind turbine to rotate. At time k+1, the angle signal θ(k+1) and the three-phase current i a (k+1), i b (k+1), i c (k+1) is sampled and the control of the next cycle is entered according to the above workflow.

[0056] In the real-time simulation part of the model, a load torque observer is used to observe the torque of the wind turbine generator. Its purpose is to increase the independence of the motor and wind turbine in the simulation system. The observer is designed as follows: The continuous domain motion equation of the simulation unit (motor and wind turbine) is

[0057]

[0058] Where θ is the angle signal of the motor; ω is the motor rotor speed; T e is the electromagnetic torque of the motor; J MG =J m +J g , B MG =B m +B g , where J m is the moment of inertia of the motor; B m B is the friction coefficient of the motor; g is the friction coefficient of the wind turbine.

[0059] The load torque observer is a super-helical sliding mode observer, which is based on high-order sliding mode theory. Here it is set as a second-order sliding mode observer. If the rotor position observation is also considered, its model is

[0060]

[0061] is the observed value of the motor’s angle signal; is the observed value of the motor rotor speed; ηω ,η θ 、u ω 、u θ is the observer parameter; θ ,λ ω , α θ , α ω is the gain of the observer, which needs to meet certain conditions before the observer can enter the sliding mode state. Here we select λ θ =λ ω =1000,α θ =α ω =100.

[0062] Where sign(x) is the sign function, the expression is

[0063]

[0064] If the deviation of mechanical constants (moment of inertia and friction coefficient) is not considered, then using equations (5)-(4) we can get

[0065]

[0066] When entering the sliding mode steady state: In formula (7) Then we can further get the generator torque observed by the observer The expression is

[0067]

[0068] In the simulation system, T em * (k) is calculated as follows:

[0069] Step 1: Based on the equivalent model of two mass blocks, the discrete motion equations of the wind turbine simulation model and the simulated unit are listed respectively;

[0070] The discrete motion equations of the wind turbine simulation model (ignoring the friction coefficient) are used as the reference prediction model:

[0071]

[0072] Among them, Ω wt * (k+1) is the speed of the wind turbine simulation model equivalent to the high-speed shaft at time k+1; the sampling time of discrete control is T d ;

[0073] The discrete motion equation of the simulated unit (ignoring the friction coefficient) is used as the control object prediction model:

[0074]

[0075] Among them, Ω m (k+1) is the rotor speed of the motor at time k+1;

[0076] Step 2: Set the cost function H in the model predictive control method;

[0077] H=[Ω wt * (k+1)-Ω m (k+1)] 2 (11)

[0078] Step 3: Calculate the speed Ω of the wind turbine model equivalent to the high-speed shaft at time k wt * (k), which is predicted at time k-1 according to formula (9):

[0079]

[0080] Among them, Ω wt * (k-1) is the speed of the wind turbine simulation model equivalent to the high-speed shaft at time k-1;

[0081] Step 4: Calculate the optimal control quantity T at time k em * (k), T em * (k) It should make the cost function H obtain the minimum value. Substitute equations (9) and (10) into (11), and H is the value of T em * (k) is a quadratic function of one variable. When the first derivative of H is zero, the solution is

[0082]

[0083] Among them, J MG =J m +J g ; J WT =J wt +J g ; It is the compensation term for the speed deviation between the wind turbine simulation model and the simulated unit at time k;

[0084] Step 5: According to formula (12) (13), the specific T can be calculated em * (k) value, T em * (k) and T em (k) As the input of the torque controller, the torque controller further performs torque closed-loop control on the motor.

[0085] The above are only specific implementation methods of the present invention, but the scope of protection of the present invention is not limited to this. Any person familiar with the technology can understand and think of any changes or replacements within the technical scope disclosed by the present invention, which should be included in the scope of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A wind turbine dynamic characteristics simulation system considering speed deviation compensation, characterized by: It consists of a real-time simulation model part and a motor drive part; The real-time simulation part of the model includes: motor, position sensor, three-phase full-bridge converter; the motor drive part includes: speed calculation module, feedback torque calculation module, load torque observer module, wind turbine simulation model module, wind turbine speed calculation module, reference torque calculation module, torque controller; The motor is connected to the wind turbine through a transmission shaft, and the input end of the motor is connected to the output end of the three-phase full-bridge converter. The rotating part of the position sensor is coaxially installed with the rotor of the motor, and its stationary part is fixed to the housing of the motor. The output of the position sensor is the angle signal θ of the motor. The input of the speed calculation module is θ, and the output is the motor rotor speed Ω. m ; The input of the feedback torque calculation module is θ and the three-phase current i of the motor a 、i b 、i c , the output is the feedback torque T em ; The input of the load torque observer module is Ω m 、T em , the output is the observed torque of the load torque observer The input of the wind turbine simulation model module is Ω m , the wind speed v generated by the wind speed model, and the output is the aerodynamic torque T equivalent to the high-speed shaft of the wind turbine model wt ; The input of the wind turbine speed calculation module is T wt 、 The output is the speed of the wind turbine model equivalent to the high-speed shaft Ω wt * ; The input of the reference torque calculation module is T wt ,Ω wt * ,Ω m 、 The output is the electromagnetic reference torque T of the motor em * ; The torque controller input is T em * 、T em , the output is a switch signal; The input of the three-phase full-bridge converter is the switching signal, and the output is i a、 i b、 i c ; In the simulation system under discrete control, at the initial moment, the real-time simulation part of the model randomly generates a set of switching signals, which are transmitted to the motor drive part and act on the three-phase full-bridge converter to drive the motor; In the motor drive part, the motor angle signal θ(k) output by the position sensor and the three-phase current i of the motor are respectively a (k), i b (k), i c( k) to sample and transmit to the real-time simulation part of the model, where k represents the kth moment; In the real-time simulation part of the model, the input of the speed calculation module is θ(k), and the output is the motor rotor speed Ω m (k); the input of the feedback torque calculation module is θ(k) and i a (k), i b (k), i c (k), the output is the feedback torque T em (k); the input of the load torque observer module is Ω m (k), T em (k), the output is the observed torque of the load torque observer The input of the wind turbine simulation model module is Ω m (k), wind speed v(k), the output is the aerodynamic torque T of the wind turbine model equivalent to the high-speed shaft wt (k); The input of the wind turbine speed calculation module is the aerodynamic torque T of the wind turbine model equivalent to the high-speed shaft at time k-1 wt (k-1), the observed torque of the load torque observer at time k-1 (k-1), the output is the speed of the wind turbine model equivalent to the high-speed shaft Ω wt * (k); calculate Ω respectively m (k) (k), T wt (k),Ω wt * (k), these four quantities are input into the reference torque calculation module, and the reference torque calculation module outputs the electromagnetic reference torque T of the motor. em * (k), T em * (k) and T em (k) As the input of the torque controller, it performs torque closed-loop control and outputs a switch control signal to the motor drive part; In the real-time simulation part of the model, a load torque observer is used to observe the torque of the wind turbine generator. Its purpose is to increase the independence of the motor and the wind turbine generator in the simulation system. The load torque observer is designed as follows: The continuous domain motion equations of the simulated unit, namely the motor and wind turbine, are: Where θ is the angle signal of the motor; ω is the motor rotor speed; T e is the electromagnetic torque of the motor; J MG =J m +J g , B MG =B m +B g , where J m is the moment of inertia of the motor; J g is the moment of inertia of the wind turbine; B m B is the friction coefficient of the motor; g is the friction coefficient of the wind turbine, T g is the wind turbine torque; The load torque observer is a super-helical sliding mode observer, which is based on high-order sliding mode theory. If the rotor position observation is also considered, its model is in is the observed value of the motor’s angle signal; is the observed value of the motor rotor speed; η ω ,η θ 、u ω 、u θ is the load torque observer parameter; θ ,λ ω , α θ , α ω is the gain of the load torque observer, when λ θ =λ ω =1000,α θ =α ω =100, the load torque observer enters the sliding mode state; Where sign(x) is the sign function, the expression is If we ignore the mechanical constants, that is, the deviation between the moment of inertia and the friction coefficient, we can get When entering the sliding mode steady state: Then we can further get the generator torque observed by the load torque observer The expression is In the motor drive part, the input of the three-phase full-bridge converter is the switch control signal. After the switch control signal is applied, the three-phase current is output, which in turn drives the motor to rotate, and the motor drives the wind turbine to rotate; At time k+1, the angle signal θ(k+1) and the three-phase current i a (k+1), i b (k+1), i c (k+1) is sampled and the control of the next cycle is entered according to the above workflow; The electromagnetic reference torque T of the motor in the simulation system is em * (k) is calculated as follows: Step 1: Based on the equivalent model of two mass blocks, the discrete motion equations of the wind turbine simulation model and the simulated unit are listed respectively; Ignoring the friction coefficient, the discrete motion equation of the wind turbine simulation model is used as the reference prediction model: Among them, J wt The moment of inertia of the wind turbine simulation model equivalent to the high-speed shaft; Ω wt * (k+1) is the speed of the wind turbine simulation model equivalent to the high-speed shaft at time k+1; the sampling time of discrete control is T d ; Ignoring the friction coefficient, the discrete motion equation of the simulated unit is used as the control object prediction model: Among them, J m is the moment of inertia of the motor; Ω m (k+1) is the rotor speed of the motor at time k+1; Step 2: Set the cost function H in the model predictive control method; H=[Ω wt * (k+1)-Ω m (k+1)] 2 (3) Step 3: Calculate the speed Ω of the wind turbine model equivalent to the high-speed shaft at time k wt * (k), which is predicted at time k-1 according to formula (1): Among them, Ω wt * (k-1) is the speed of the wind turbine simulation model equivalent to the high-speed shaft at time k-1; Step 4: Calculate the optimal control quantity T at time k em * (k), T em * (k) It should make the cost function H obtain the minimum value; Substitute equations (1) and (2) into (3), H is the value of T em * (k) is a quadratic function of one variable. When the first derivative of H is zero, the solution is Among them, J MG =J m +J g ; J WT =J wt +J g ; It is the compensation term for the speed deviation between the wind turbine simulation model and the simulated unit at time k; Step 5: According to formula (4) and (5), the specific T can be calculated. em * (k) value, T em * (k) and T em (k) serves as the input to the torque controller.

2. The wind turbine dynamic characteristics simulation system considering rotation speed deviation compensation according to claim 1 is characterized in that: In step 5, the torque controller performs closed-loop torque control on the motor.

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