A test system for wave-force coordination controller

Abstract

The present invention discloses a test system for a wave power coordination controller, comprising: a test system host computer, a wave power generation device real-time simulation simulator and a wave power generation coordination controller; the wave power generation device real-time simulation simulator is connected to the test system host computer in communication, and the wave power generation device real-time simulation simulator is connected to the wave power generation coordination controller via a digital quantity I / O interface and an analog quantity I / O interface to form a closed-loop structure. By adopting the present invention, different wave condition excitations are set by the test system host computer, and the control strategy verification and closed-loop test of the coordination controller under different working conditions are completed, thereby shortening the development cycle of the coordination controller, which is conducive to promoting the functional improvement and functional development of the wave power generation coordination controller at this stage.

Description

Technical Field

[0001] The invention relates to the technical field of power generation control, and in particular to a test system for a wave force coordination controller. Background Art

[0002] At present, the research on wave power generation coordination controller in China is still in its preliminary stage. The design optimization and functional performance testing of the coordination controller are mainly carried out by building an offline simulation model using a full digital simulation method, or directly using a full physical test method in engineering to verify the functional performance of the wave power generation coordination controller.

[0003] Due to the different structures and complex operating characteristics of wave power generation devices, the existing full-digital simulation method cannot truly reflect the actual operating characteristics of each physical model of the wave power generation device, and there are certain differences from the actual engineering. Therefore, the full-digital simulation method is more suitable for the early research on the control strategy of the wave power coordination controller. Although the method of full physical test verification can truly reflect the actual operating characteristics of the wave power generation device, this method requires the construction of a real-life test system including the wave power generation device, which has a long test cycle, high cost, and requires a lot of resources. Summary of the invention

[0004] The embodiment of the present invention provides a test system for a wave power coordination controller. A real-time simulation simulator of a wave power generation device is built on the basis of a programmable logic controller (PLC), so as to realize real-time verification of the coordination control performance of the coordination controller and real-time correction of parameters.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides a test system for a wave-force coordination controller, comprising:

[0006] A test system host computer, a wave power generation device real-time simulation simulator and a wave power generation coordination controller; the wave power generation device real-time simulation simulator is connected to the test system host computer in communication, and the wave power generation device real-time simulation simulator is connected to the wave power generation coordination controller via a digital I / O interface and an analog I / O interface to form a closed-loop structure;

[0007] The host computer of the test system includes a real-time control system 101 and an offline simulation model; the real-time control system 101 is used to send the wave spectrum parameters under different wave conditions and the initial control parameters of the real-time simulation model to the real-time simulation simulator of the wave power generation device; the offline simulation model is used to obtain the theoretical response characteristics;

[0008] The real-time simulation simulator of the wave power generation device includes a real-time simulation system 201, a digital I / O interface and an analog I / O interface; the real-time simulation system 201 automatically generates executable codes supporting real-time operation to generate a real-time simulation model based on the offline simulation model downloaded from the host computer of the test system through a compiler software; the simulation results of the real-time simulation model will be fed back to the host computer of the test system in real time;

[0009] The real-time simulation simulator of the wave power generation device sends the real-time simulation model simulation quantity to the wave power generation coordination controller through the analog quantity I / O interface; the wave power generation coordination controller calculates the real-time simulation model simulation quantity through the built-in control logic to obtain a control signal, and feeds back the control signal to the real-time simulation simulator of the wave power generation device through the digital quantity I / O interface, thereby driving the real-time simulation model to run.

[0010] In a possible implementation of the first aspect, the test system host computer further includes a real-time monitoring system;

[0011] The real-time monitoring system is used to obtain in real time the simulation results of the offline simulation model, the simulation results of the real-time simulation model and the control signal of the wave power generation coordination controller under different wave conditions; according to the difference between the simulation results of the offline simulation model and the simulation results of the real-time simulation model, analyze the control performance of the wave power generation coordination controller and adjust the PID parameters of the wave power generation coordination controller.

[0012] In a possible implementation manner of the first aspect, the offline simulation model is constructed as follows:

[0013] According to the controller object of the wave power generation coordination controller and the actual structure of the wave power generation device, an offline simulation model of the wave power generation device is built in the offline model building software environment of the host computer of the test system;

[0014] The feasibility of the control strategy of the offline simulation model is verified by using offline model building software, and the corresponding controller PID parameters are repeatedly adjusted until the preset goals are achieved.

[0015] In a possible implementation manner of the first aspect, the real-time simulation model simulation quantity includes an accumulator pressure signal, a generator speed, a generator output voltage and current, a DC bus voltage, and a grid-connected side voltage and current signal.

[0016] In a possible implementation of the first aspect, the control signal includes a relief valve opening signal, a hydraulic motor solenoid valve opening signal, a machine-side rectifier IGBT trigger signal, a grid-connected inverter IGBT trigger signal, and an opening and closing signal of a grid-side grid-connected and off-grid contactor.

[0017] In a possible implementation manner of the first aspect, the real-time acquisition of simulation results of the offline simulation model under different wave conditions, simulation results of the real-time simulation model, and a control signal of the wave power generation coordination controller specifically includes:

[0018] Input wave spectrum parameters under different wave conditions, obtain a higher-level control signal after the offline simulation model is run, and input the higher-level control signal into the real-time simulation simulator of the wave power generation device, and obtain the real-time simulation model simulation quantity by compiling and running in real time into the wave power generation coordination controller;

[0019] The wave power generation coordination controller obtains control signals including the overflow valve opening signal, the hydraulic motor solenoid valve opening signal, the AC / DC rectifier IGBT trigger pulse signal and the DC / AC inverter IGBT trigger pulse signal according to the built-in overflow valve, the hydraulic motor solenoid valve opening curve logic, the AC / DC rectifier PID control logic and the DC / AC inverter PID control logic, respectively, and feeds the control signal through the digital quantity I / O interface to the real-time simulation model of the real-time simulation simulator of the wave power generation device for response; and uploads the control signal to the real-time monitoring system at the same time;

[0020] The accumulator pressure signal, generator speed, generator output voltage and current, intermediate DC bus voltage and grid-connected side voltage and current response characteristic signals under the control of the wave power generation coordination controller are obtained, and the response results are uploaded to the real-time monitoring system as simulation results.

[0021] In a possible implementation manner of the first aspect, analyzing the control performance of the wave power generation coordination controller according to the difference between the simulation result of the offline simulation model and the simulation result of the real-time simulation model, and adjusting the PID parameters of the wave power generation coordination controller specifically includes:

[0022] The real-time simulation results of the real-time simulation simulator of the wave power generation device are compared and analyzed with the simulation results of the offline simulation model of the host computer; if the degree of difference in the simulation results does not meet the preset results, the parameters of the wave power generation coordination controller are modified online by the host computer of the test system, and the simulation quantity of the real-time simulation model obtained after the second response is sent to the real-time simulation simulator of the wave power generation device for repeated debugging.

[0023] In a possible implementation manner of the first aspect, the real-time simulation simulator of the wave power generation device is built based on a programmable logic controller.

[0024] In a possible implementation of the first aspect, the offline simulation model includes a primary system part and a secondary system control part of a target wave power generation device; the primary system part is composed of a float, a hydraulic cylinder, a one-way valve, an oil tank, an accumulator, a solenoid valve, a relief valve, a hydraulic motor, a permanent magnet synchronous generator, a main circuit of a rectifier link, and a main circuit of a grid-connected inverter link; the secondary system control part is constructed according to the control unit of the wave power generation coordination controller.

[0025] Compared with the prior art, the test system for the wave power coordination controller provided by the embodiment of the present invention builds a corresponding simulation model according to the control object and control logic of the wave power generation coordination controller, and forms a closed-loop test system with the test system host computer and the wave power generation coordination controller to be tested through the analog and digital I / O interface configured by the simulator. Only by setting different wave condition excitations through the test system host computer, the control strategy verification and closed-loop test of the coordination controller under different working conditions can be quickly completed, thereby shortening the development cycle of the coordination controller, which is conducive to promoting the functional improvement and functional development of the wave power generation coordination controller at this stage.

[0026] In addition, the technical solution of the present invention builds a real-time simulation simulator for a wave power generation device based on a programmable logic controller (PLC), which further reduces the system cost compared with the existing test systems based on semi-physical real-time simulation platforms such as RT-LAB, RTDS, and dSPACE. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of a test system for a wave force coordination controller provided by an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of information exchange of a test system in one embodiment of the present invention;

[0029] Figure 3 It is an operation flow chart of the test system in one embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1 An embodiment of the present invention provides a test system for a wave force coordination controller, comprising:

[0032] A test system host computer 100, a wave power generation device real-time simulation simulator 200 and a wave power generation coordination controller 300; the wave power generation device real-time simulation simulator 200 is communicatively connected to the test system host computer 100, and the wave power generation device real-time simulation simulator 200 is connected to the wave power generation coordination controller 300 through a digital quantity I / O interface 203 and an analog quantity I / O interface 202 to form a closed loop structure.

[0033] The host computer 100 of the test system includes a real-time control system 101 and an offline simulation model 102; the real-time control system 101 is used to send wave spectrum parameters under different wave conditions and initial control parameters of the real-time simulation model to the real-time simulation simulator of the wave power generation device; the offline simulation model 102 is used to obtain theoretical response characteristics.

[0034] The real-time simulation simulator 200 of the wave power generation device includes a real-time simulation system 201, a digital I / O interface 203 and an analog I / O interface 202; the real-time simulation system 201 automatically generates executable codes supporting real-time operation based on the offline simulation model downloaded from the test system host computer through compiling software to generate a real-time simulation model; the simulation results of the real-time simulation model will be fed back to the test system host computer 100 in real time.

[0035] The wave power generation device real-time simulation simulator 200 sends the real-time simulation model simulation quantity to the wave power generation coordination controller 300 through the analog quantity I / O interface; the wave power generation coordination controller 300 calculates the real-time simulation model simulation quantity through the built-in control logic to obtain a control signal, and feeds back the control signal to the wave power generation device real-time simulation simulator 200 through the digital quantity I / O interface 203, thereby driving the real-time simulation model to run.

[0036] In this embodiment, the test system for the wave power coordination controller is composed of three parts: a test system host computer 100, a wave power generation device real-time simulation simulator 200, and a wave power generation coordination controller 300. The test system host computer 100 is composed of a real-time control system 101, an offline simulation model 102, and a real-time monitoring system 103, and the wave power generation device real-time simulation simulator 200 is composed of a real-time simulation system 201, an analog I / O interface 202, and a digital I / O interface 203.

[0037] The test system host computer 100 is used to build an offline simulation model 102 of a wave power generation device and run it offline, support real-time adjustment of controller parameters and real-time signal monitoring. Specifically, the test system host computer 100 has simulation model building and offline simulation functions, system real-time monitoring function and user real-time control function.

[0038] The simulation model building and offline simulation functions are realized by the simulation modeling software installed in the host computer. The construction and operation of the wave power generation device offline simulation model 102 are completed in this software environment. Specifically, the offline simulation model 102 is built according to the actual structure of the wave power generation device and the function verification content of the wave power generation coordination controller.

[0039] The real-time simulation simulator 200 of the wave power generation device has built-in offline model compilation software and real-time operation software, which is used to compile the above-mentioned offline simulation model 102 and complete the distributed real-time calculation of the model. It is the core part of the entire test system, and is connected to the test system host computer 100 through communication protocols such as TwinCAT or EtherNet. The lower end is physically connected to the wave power generation coordination controller through the analog I / O interface 202 and the digital I / O interface 203 to form a test closed-loop structure. In terms of functional configuration, the real-time simulation simulator 200 of the wave power generation device should have I / O communication function, system model compilation and real-time operation control function.

[0040] Specifically, the I / O communication function of the real-time simulation simulator 200 of the wave power generation device is used to realize the signal conversion and signal conditioning between analog and digital signals with the coordination controller. The analog output signal of the real-time simulation simulator 200 of the wave power generation device includes analog signals such as accumulator pressure signal, generator speed, voltage and current; the analog input signal is the wave condition excitation signal or controller parameter adjustment instruction output by the test system host computer 100; the digital input signal is provided by the wave power generation coordination controller or the host computer, specifically including the rectifier inverter switch tube trigger signal and the opening and closing signal of the grid-side grid-connected and off-grid contactor, etc.

[0041] The system model compilation and real-time operation control functions are realized by the built-in compilation software and real-time operation software of the simulator. First, the offline simulation model 102 built in the test system host computer 100 is downloaded to the simulator and the executable code supporting real-time operation is automatically generated through the compilation software; after completing the above model compilation, the input given by the upper test system host computer 100 is run in real time by the simulator to obtain analog signals such as accumulator pressure, voltage and current, and sent to the wave power generation coordination controller through the analog I / O interface 202. The coordination controller calculates the received analog signals according to the built-in logic control algorithm to obtain digital signals such as rectifier and inverter switch tube trigger signals, and feeds them back to the simulator through the digital I / O interface 203. The simulator performs real-time simulation operation according to the received control signal, thereby forming a complete closed-loop test structure.

[0042] The control logic and control performance of the wave power generation device real-time simulator 200 and the test system host computer 100 are tested and verified by forming a closed-loop test system. Specifically, the coordination controller calculates the analog signals such as speed pressure, voltage and current output by the wave power generation device real-time simulator 200 through the built-in control logic to obtain the control signal of the corresponding control unit, and feeds the digital control signal back to the wave power generation device real-time simulator 200 to drive the real-time simulation model to run, forming a complete closed-loop test process, thereby realizing the verification of the coordination controller control logic and coordination control performance.

[0043] Compared with the prior art, the test system for the wave power coordination controller provided in the embodiment of the present invention builds a corresponding simulation model according to the wave power generation coordination controller 300 object and control logic, and forms a closed-loop test system with the test system host computer 100 and the wave power generation coordination controller to be tested through the analog digital quantity I / O interface 203 configured by the simulator. Different wave conditions are set by the test system host computer 100 to complete the control strategy verification and closed-loop test of the coordination controller under different working conditions, shorten the development cycle of the coordination controller, and promote the function improvement and function development of the wave power generation coordination controller at this stage.

[0044] In addition, the technical solution of the present invention builds a real-time simulation simulator 200 for a wave power generation device based on a programmable logic controller (PLC), which further reduces the system cost compared with the existing test systems based on semi-physical real-time simulation platforms such as RT-LAB, RTDS, and dSPACE.

[0045] Exemplarily, the test system host computer 100 further includes a real-time monitoring system 103;

[0046] The real-time monitoring system 103 is used to obtain in real time the simulation results of the offline simulation model 102, the simulation results of the real-time simulation model and the control signal of the wave power generation coordination controller under different wave conditions; according to the difference between the simulation results of the offline simulation model 102 and the simulation results of the real-time simulation model, analyze the control performance of the wave power generation coordination controller and adjust the PID parameters of the wave power generation coordination controller.

[0047] The real-time monitoring function of the system is realized by the real-time monitoring system 103, which is used to monitor the operating status of the wave power generation device offline simulation model 102 and the wave power generation device real-time simulation simulator 200. Specifically, for the offline simulation model 102, the real-time pressure of the accumulator, the speed of the generator, and the voltage and current and other parameters can be measured through the virtual measuring elements built in the software and displayed in real time on the monitoring interface, and the above data can be recorded and stored, which is convenient for later processing and analysis of the data; in terms of the real-time simulation model, the real-time simulation results of the voltage, current, pressure and speed, etc. calculated in real time by the real-time simulation simulator 200 of the wave power generation device according to the built-in logic algorithm are displayed in real time on the monitoring interface and compared with the results of the offline simulation model 102, so as to adjust the control parameters of the coordination controller in real time.

[0048] The user real-time control function is implemented by the real-time control system 101, which supports online modification of the offline simulation model 102 and its control system parameters, wave condition excitation signal selection, offline simulation, and start and stop control of real-time simulation. The wave condition excitation signal is input according to the wave spectrum signal, and the simulation of multi-level waves is realized by modifying the significant wave height and spectrum period of the wave spectrum. Specifically, the built-in wave spectrum model of the system includes common wave spectra such as JONSWAP spectrum, Neumann spectrum, PM spectrum and Bretschneider spectrum.

[0049] See also Figure 2 The test system information interaction mode and Figure 3 As shown in the test method flow, the entire test system in this embodiment is tested mainly in six steps: S1, building an offline simulation model 102; S2, parameter debugging of the offline simulation model 102; S3, real-time model compilation; S4, coordinated controller closed-loop test; S5, result analysis; S6, parameter tuning.

[0050] Exemplarily, the construction process of the offline simulation model 102 in S1 is:

[0051] According to the controller object of the wave power generation coordination controller and the actual structure of the wave power generation device, an offline simulation model 102 of the wave power generation device is built in the offline model building software environment of the test system host computer 100;

[0052] The feasibility of the control strategy of the offline simulation model 102 is verified by using the offline model building software, and the corresponding controller PID parameters are repeatedly adjusted until the preset target is achieved.

[0053] The offline simulation model 102 of the embodiment of the present invention is built based on the MATLAB / Simulink software environment, and the offline simulation model 102 is built and run offline through the software; in addition, a real-time simulation simulator 200 of a wave power generation device is built based on a programmable logic controller (PLC), and the simulator compiles and runs the downloaded offline simulation model 102 in real time through a real-time control system 101 built on the TwinCAT platform.

[0054] In specific implementation, different wave spectra such as JONSWAP spectrum, Neumann spectrum, PM spectrum and Bretschneider spectrum can be selected according to the test requirements to perform closed-loop verification on the coordination controller function. Preferably, the embodiment of the present invention uses JONSWAP spectrum as wave condition excitation, and sets different simulation conditions or changes controller parameters by changing wave spectrum parameters to realize closed-loop test of wave power generation coordination controller function. The JONSWAP spectrum expression is as follows:

[0055]

[0056] In the formula, H 1 / 3 is the significant wave height; T p is the spectrum period.

[0057] Exemplarily, the simulated quantities of the real-time simulation model include accumulator pressure signals, generator speed, generator output voltage and current, DC bus voltage, and grid-connected side voltage and current signals.

[0058] Exemplarily, the control signal includes an overflow valve opening signal, a hydraulic motor solenoid valve opening signal, a machine-side rectifier IGBT trigger signal, a grid-connected inverter IGBT trigger signal, and an opening and closing signal of a grid-side grid-connected and off-grid contactor.

[0059] Exemplarily, S2 specifically includes: setting wave condition parameters in MATLAB / Simulink software, setting control parameters of the offline simulation model 102 according to actual parameters of the coordinated controller, and simulating and adjusting the hydraulic valve, hydraulic motor solenoid valve opening curve, AC / DC rectifier PID controller control parameters, energy storage unit DC / DC converter PID controller control parameters, and DC / AC inverter PID controller control parameters until the expected results are achieved.

[0060] Exemplarily, S3 specifically includes: downloading the debugged offline simulation model 102 to the real-time simulation simulator 200 of the wave power generation device, compiling it into real-time through the real-time control system 101 compilation software, and forming a closed-loop test structure with the test system host computer 100 and the coordination controller through the analog quantity and digital quantity I / O interface 203. Specifically, the analog output signal of the real-time simulation simulator 200 of the wave power generation device (i.e., the real-time simulation model analog quantity) includes accumulator pressure signal, generator speed, generator output voltage and current, DC bus voltage, grid-connected voltage and current and other signals; the digital input signal is provided by the wave power generation coordination controller, specifically including the overflow valve, hydraulic motor solenoid valve opening signal, machine-side rectifier IGBT trigger signal, grid-connected inverter IGBT trigger signal and grid-side grid-connected contactor opening and closing signal, etc.

[0061] Exemplarily, S5 specifically includes:

[0062] Input the wave spectrum parameters under different wave conditions, and obtain the upper control signal after the offline simulation model 102 is run, and input the upper control signal to the real-time simulation simulator 200 of the wave power generation device, and obtain the real-time simulation model simulation quantity by compiling and running in real time to the wave power generation coordination controller;

[0063] The wave power generation coordination controller obtains control signals including the overflow valve opening signal, the hydraulic motor solenoid valve opening signal, the AC / DC rectifier IGBT trigger pulse signal and the DC / AC inverter IGBT trigger pulse signal according to the built-in overflow valve, the hydraulic motor solenoid valve opening curve logic, the AC / DC rectifier PID control logic and the DC / AC inverter PID control logic, respectively, and feeds back the control signal through the digital quantity I / O interface 203 and uploads it to the real-time simulation model of the real-time simulation simulator 200 of the wave power generation device for response; and at the same time, uploads the control signal to the real-time monitoring system 103.

[0064] The accumulator pressure signal, generator speed, generator output voltage and current, intermediate DC bus voltage and grid-connected side voltage and current response characteristic signal under the control of the wave power generation coordination controller are obtained, and the response results are uploaded to the real-time monitoring system 103 as simulation results.

[0065] In the specific test, the wave spectrum parameters under the corresponding wave conditions are first input into the host computer 100 of the test system, and the overflow valve, hydraulic motor solenoid valve opening signal, machine-side rectifier IGBT trigger signal, grid-connected inverter IGBT trigger signal and grid-side grid-connected contactor opening and closing signal are obtained in the offline simulation model 102, and the above digital signals are input into the real-time simulation simulator 200 of the wave power generation device. The accumulator pressure signal, generator speed, rotor mechanical angular velocity, generator output voltage and current, intermediate DC bus voltage, grid-connected side voltage and current and other analog signals are obtained by compiling and running in real time, and then input into the wave power generation coordination controller through the simulator analog I / O interface 202. The coordination controller generates analog signals according to the built-in The overflow valve, hydraulic motor solenoid valve opening curve logic, AC / DC rectifier PID control logic and DC / AC inverter PID control logic respectively obtain the overflow valve, hydraulic motor solenoid valve opening signal, AC / DC rectifier IGBT trigger pulse signal and DC / AC inverter IGBT trigger pulse signal, and the above control signals are fed back to the simulator through the simulator digital I / O interface 203 to respond and obtain the accumulator pressure signal, generator speed, generator output voltage and current, intermediate DC bus voltage, grid-connected side voltage and current and other response characteristic signals under the control of the coordinated controller. At the same time, the grid-connected and off-grid contactor control signal is uploaded to the monitoring interface of the test system host computer 100 for real-time display.

[0066] Exemplarily, S6 specifically includes:

[0067] The real-time simulation result of the wave power generation device real-time simulation simulator 200 is compared and analyzed with the simulation result of the host computer offline simulation model 102; if the degree of difference in the simulation result does not meet the preset result, the wave power generation coordination controller parameters are modified online by the test system host computer 100, and the real-time simulation model simulation quantity obtained after the second response is sent to the wave power generation device real-time simulation simulator 200 for repeated debugging.

[0068] The simulator displays the new analog signal after the above response in real time on the monitoring interface of the test system host computer 100, and compares and analyzes the real-time simulation results of the simulator with the simulation results of the host computer offline simulation model 102. If it does not meet the expected results, the controller parameters are modified online through the test system host computer 100, and the analog signal after the simulator responds in the above steps is sent back to the coordination controller for repeated operation and debugging.

[0069] Exemplarily, the wave power generation device real-time simulation simulator 200 is built based on a programmable logic controller.

[0070] Exemplarily, the offline simulation model 102 includes a primary system part and a secondary system control part of a target wave power generation device; the primary system part is composed of a float, a hydraulic cylinder, a one-way valve, an oil tank, an accumulator, a solenoid valve, a relief valve, a hydraulic motor, a permanent magnet synchronous generator, a main circuit of a rectifier link, and a main circuit of a grid-connected inverter link; the secondary system control part is constructed according to the control unit of the wave power generation coordination controller.

[0071] An offline simulation model 102 including the primary system part and the secondary system control part of the wave power generation device is established in the MATLAB / Simulink software environment of the host computer 100 of the test system, wherein the primary system part is composed of a float, a hydraulic cylinder, a one-way valve, an oil tank, an accumulator, a solenoid valve, a relief valve, a hydraulic motor, a permanent magnet synchronous generator, a main circuit of the rectifier link and a main circuit of the grid-connected inverter link; in the secondary system modeling part, a corresponding control model should be built according to the control unit of the wave power generation coordination controller, specifically, it is composed of three parts: a hydraulic autonomous control unit of the hydraulic energy storage power generation link, a power generation rectifier control unit and a grid-connected inverter control unit, wherein the hydraulic autonomous control unit controls the relief valve and the hydraulic motor solenoid valve, and the control signal is the opening signal of the solenoid valve and the relief valve; the power generation rectifier control unit controls the fully controlled AC / DC rectifier, and the control signal is the rectifier IGBT trigger signal; the grid-connected inverter control unit controls the DC / AC inverter, and the control signal is the inverter IGBT trigger signal and the grid-connected contactor opening and closing signal.

[0072] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A test system for a wave force coordination controller, characterized in that: include: A test system host computer, a wave power generation device real-time simulation simulator and a wave power generation coordination controller; the wave power generation device real-time simulation simulator is connected to the test system host computer in communication, and the wave power generation device real-time simulation simulator is connected to the wave power generation coordination controller via a digital I / O interface and an analog I / O interface to form a closed-loop structure; The host computer of the test system includes a real-time control system and an offline simulation model; the real-time control system is used to send the wave spectrum parameters under different wave conditions and the initial control parameters of the real-time simulation model to the real-time simulation simulator of the wave power generation device; The offline simulation model is used to derive theoretical response characteristics; The host computer of the test system also includes a real-time monitoring system; the real-time monitoring system is used to obtain the simulation results of the offline simulation model under different wave conditions, the simulation results of the real-time simulation model and the control signal of the wave power generation coordination controller in real time; Analyzing the control performance of the wave power generation coordination controller and adjusting the PID parameters of the wave power generation coordination controller according to the difference between the simulation results of the offline simulation model and the simulation results of the real-time simulation model; The real-time acquisition of the simulation results of the offline simulation model under different wave conditions, the simulation results of the real-time simulation model and the control signal of the wave power generation coordination controller specifically includes: inputting the wave spectrum parameters under different wave conditions, obtaining the upper control signal after the offline simulation model is run, and inputting the upper control signal into the real-time simulation simulator of the wave power generation device, and obtaining the real-time simulation model simulation quantity by compiling and running in real time into the wave power generation coordination controller; the wave power generation coordination controller obtains the control signal including the overflow valve opening signal, the hydraulic motor solenoid valve opening signal, the AC / DC rectifier IGBT trigger pulse signal and the DC / AC inverter IGBT trigger pulse signal according to the built-in overflow valve, the hydraulic motor solenoid valve opening curve logic, the AC / DC rectifier PID control logic and the DC / AC inverter PID control logic, respectively, and the control signal is fed back to the real-time simulation model of the real-time simulation simulator of the wave power generation device through the digital quantity I / O interface for response; and the control signal is uploaded to the real-time monitoring system at the same time; Obtaining the accumulator pressure signal, generator speed, generator output voltage and current, intermediate DC bus voltage and grid-connected side voltage and current response characteristic signals under the control of the wave power generation coordination controller, and uploading the response results as simulation results to the real-time monitoring system; The real-time simulation simulator of the wave power generation device includes a real-time simulation system, a digital I / O interface and an analog I / O interface; the real-time simulation system automatically generates executable codes supporting real-time operation by compiling software based on the offline simulation model downloaded from the host computer of the test system to generate a real-time simulation model; the simulation results of the real-time simulation model will be fed back to the host computer of the test system in real time; The real-time simulation simulator of the wave power generation device sends the real-time simulation model simulation quantity to the wave power generation coordination controller through the analog quantity I / O interface; the wave power generation coordination controller calculates the real-time simulation model simulation quantity through the built-in control logic to obtain a control signal, and feeds back the control signal to the real-time simulation simulator of the wave power generation device through the digital quantity I / O interface, thereby driving the real-time simulation model to run.

2. The test system for wave force coordination controller according to claim 1, characterized in that: The construction process of the offline simulation model is as follows: According to the controller object of the wave power generation coordination controller and the actual structure of the wave power generation device, an offline simulation model of the wave power generation device is built in the offline model building software environment of the host computer of the test system; The feasibility of the control strategy of the offline simulation model is verified by using offline model building software, and the corresponding controller PID parameters are repeatedly adjusted until the preset goals are achieved.

3. The test system for wave force coordination controller according to claim 1, characterized in that: The simulation quantities of the real-time simulation model include accumulator pressure signal, generator speed, generator output voltage and current, DC bus voltage and grid-connected side voltage and current signals.

4. The test system for wave force coordination controller according to claim 1, characterized in that: The control signal includes an overflow valve opening signal, a hydraulic motor solenoid valve opening signal, a machine-side rectifier IGBT trigger signal, a grid-connected inverter IGBT trigger signal, and an opening and closing signal of a grid-side grid-connected and off-grid contactor.

5. The test system for wave force coordination controller according to claim 1, characterized in that: The method of analyzing the control performance of the wave power generation coordination controller according to the difference between the simulation results of the offline simulation model and the simulation results of the real-time simulation model, and adjusting the PID parameters of the wave power generation coordination controller specifically includes: The real-time simulation results of the real-time simulation simulator of the wave power generation device are compared and analyzed with the simulation results of the offline simulation model of the host computer; if the degree of difference in the simulation results does not meet the preset results, the parameters of the wave power generation coordination controller are modified online by the host computer of the test system, and the simulation quantity of the real-time simulation model obtained after the second response is sent to the real-time simulation simulator of the wave power generation device for repeated debugging.

6. The test system for wave force coordination controller according to claim 1, characterized in that: The real-time simulation simulator of the wave power generation device is built based on a programmable logic controller.

7. The test system for wave force coordination controller according to claim 1, characterized in that: The offline simulation model includes a primary system part and a secondary system control part of the target wave power generation device; the primary system part is composed of a float, a hydraulic cylinder, a one-way valve, an oil tank, an accumulator, a solenoid valve, a relief valve, a hydraulic motor, a permanent magnet synchronous generator, a main circuit of a rectifier link and a main circuit of a grid-connected inverter link; the secondary system control part is constructed according to the control unit of the wave power generation coordination controller.

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