A wind power twin master control system and method based on Bladed software

Abstract

The application discloses a wind power twin main control system and method based on Bladed software, and the wind power twin main control system comprises a controller, the controller comprises a CPU unit and a function unit, and the controller is configured to: the CPU unit collects current operation state data of a wind turbine through the function unit, and the CPU unit outputs instructions to the wind turbine through the function unit, the CPU unit comprises a control logic service module, a twin wind turbine service module, a global variable structure body and an algorithm dynamic library, and the global variable structure body is configured to: be used for storing the collected operation state data of the wind turbine, and be used for the control logic service module and the twin wind turbine service module to read and write operation output instruction data, the wind power twin main control system and method based on the Bladed software do not need to additionally install sensors, construction difficulty and hardware cost are reduced, and control efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of wind turbine control technology, specifically to a wind power twin master control system and method based on Bladed software. Background Technology

[0002] The main function of a wind power main control system is to collect relevant data from components such as wind turbine blades, generators, converters, and gearboxes in real time and control the wind turbine generator to perform a series of corresponding actions, including starting, grid connection, monitoring, protection, fault diagnosis, yaw, pitch control, converter power commands, and shutdown. Currently, the control logic of wind power main control systems is generally developed based on a PLC platform, and functional and load tests are conducted according to industry standard operating conditions before leaving the factory, followed by on-site grid connection implementation. With the rapid development of the wind power industry in recent years, newly built large-capacity wind turbine generators have characteristics such as highly flexible towers and long blades, and the operating environment is becoming increasingly complex. Standard operating condition testing can no longer meet the requirements for the safety and reliability of the units, which places very high demands on control strategies to reduce the load on the units.

[0003] The load on a wind turbine is the input to the design of all components, and the magnitude of the load directly determines the cost of the turbine. Therefore, minimizing the operating load within a reasonable range is crucial for the turbine's lifespan and maintenance costs. Currently, most load reduction methods involve adding super bolts or sensors to obtain load data, which guides the execution of the main control system's control strategy, or creating a twin turbine to map the turbine's load data. However, these methods fail to feed back to the main control system for load reduction. Chinese patent CN109653945A discloses a wind turbine load reduction method and system. By adding bolts and other sensors to the turbine, it acquires load data during turbine operation, predicts the turbine's operating status in advance, and adjusts the control strategy accordingly to reduce or avoid large loads, thus achieving the goal of wind turbine load reduction. Chinese patent CN113236491A discloses a wind power generation digital twin system, proposing a "mechanism + data" model. The system builds a digital twin platform through the mechanism model, obtains operational data from physical wind turbines for processing and analysis, transmits it to a human-machine interaction unit for display, and performs intelligent operation and maintenance of the physical wind turbines according to the control commands of the human-machine interaction unit.

[0004] Key components requiring monitoring in wind turbines include the blade root, hub center, yaw bearing, drive train, and tower. These monitoring points are geographically dispersed, making data acquisition extremely difficult if sensors are installed at all locations. Installing only some sensors will fail to comprehensively monitor the coupling relationships and overall trends of these points. Chinese patent CN113236491A establishes a digital twin platform to feed back these key load data. This platform primarily provides direct and effective information for intelligent wind turbine operation and maintenance based on simulation models of operational data, focusing on fault early warning and online monitoring services. However, choosing TCP / IP for data interaction affects the real-time communication rate and does not provide guidance for the real-time operation of the main control system. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] In view of the problems mentioned above and / or existing wind power main control systems, this invention is proposed.

[0007] Therefore, the purpose of this invention is to provide a wind power twin master control system and method based on Bladed software, which eliminates the need for additional sensors, reduces construction difficulty and hardware costs, and improves control efficiency.

[0008] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution:

[0009] A wind power twin master control system based on Bladed software, comprising:

[0010] The controller includes a CPU unit and a functional unit, and the controller is configured such that the CPU unit collects the current operating status data of the wind turbine through the functional unit and the CPU unit outputs instructions to the wind turbine through the functional unit.

[0011] The CPU unit includes a control logic service module, a twin wind turbine service module, a global variable structure, and an algorithm dynamic library;

[0012] The global variable structure is configured to store the collected operating status data of the wind turbine units for the control logic service module and the twin wind turbine service module to read and write the calculation output instruction data;

[0013] The control logic service module is configured to: dynamically load the algorithm dynamic library to obtain the pointer to the global variable structure, read the data of the wind turbine into the corresponding stack frame to participate in the calculation, and correct its own output result according to the output result of the twin wind turbine service module before writing it into the global variable structure;

[0014] The twin wind turbine service module is configured to: construct a complete wind turbine aeroelastic model, dynamically load the algorithm dynamic library to obtain the pointer to the global variable structure, read the wind turbine data into the corresponding stack frame to participate in the calculation, and write the load data into the global variable for each cycle.

[0015] As a preferred embodiment of the wind power twin master control system based on Bladed software described in this invention, the functional unit includes a DI module, an AI module, an RTD module, and a communication module for collecting current operating status data of the wind turbine.

[0016] As a preferred embodiment of the wind power twin master control system based on Bladed software described in this invention, the functional unit includes a DO module, an AO module, and a communication module for outputting commands to the wind turbine.

[0017] As a preferred embodiment of the wind power twin master control system based on Bladed software described in this invention, the control logic service module and the twin wind turbine service module execute the algorithm functions in the dynamic link library step by step, and the algorithm functions include pitch algorithm function, yaw algorithm function and torque algorithm function.

[0018] A wind power twin master control method based on Bladed software, the specific steps of which are as follows:

[0019] S1. The controller collects the current operating status data of the wind turbine through the electrical function module and uploads it to the global variable body structure in the CPU unit through the communication protocol.

[0020] S2. The control logic service process of the control logic service module and the twin wind turbine service process of the twin wind turbine service module respectively load the algorithm dynamic library to obtain the pointer to the global variable structure, and read the wind turbine data into their respective stack frames to participate in the calculation.

[0021] S3. The twin wind turbine service process writes a set of load data into the global variable structure every cycle. The control logic service process and the twin wind turbine service process read the set of load data, perform calculations, and output instruction data every cycle. The control logic service process corrects its own output results based on the output results of the twin wind turbine service process and writes the instruction data into the global variable structure every cycle.

[0022] S4. The CPU unit outputs the result data to the wind turbine through the electrical function module to realize real-time closed-loop control of the wind turbine.

[0023] As a preferred embodiment of the wind power twin master control method based on Bladed software described in this invention, the specific steps of the control logic service process correcting its own output based on the output of the twin wind turbine service process are as follows:

[0024] The control logic service process and the twin wind turbine service process execute algorithm functions in the dynamic library simultaneously;

[0025] The output results of the control logic service process and the twin wind turbine service process are input into a comparator to determine whether the result executed by the main control logic service is within the acceptable range of the twin wind turbine execution result;

[0026] If acceptable, the result executed by the main control logic service will take effect; otherwise, the result of the twin wind turbine will be assigned and output to the wind turbine unit.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention obtains comprehensive load data of the unit through Bladed software without the need for additional sensors, thus reducing construction difficulty and hardware costs. Furthermore, it achieves data interaction between the actual wind turbine and the twin wind turbine through data sharing within the controller, improving efficiency and truly playing the role of real-time guidance and correction of the main control system logic execution. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0029] Figure 1 This is a data flow diagram of a wind power twin master control system based on Bladed software according to the present invention;

[0030] Figure 2 This is a schematic diagram of the CPU unit architecture of a wind power twin master control system based on Bladed software according to the present invention.

[0031] Figure 3 This is a flowchart of a wind power twin master control method based on Bladed software according to the present invention. Detailed Implementation

[0032] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0034] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0035] This invention provides a wind power twin master control system and method based on Bladed software, which eliminates the need for additional sensors, reduces construction difficulty and hardware costs, and improves control efficiency.

[0036] Figures 1-2 This diagram illustrates the data flow of the main control system and the architecture of the CPU unit in a wind power twin control system based on Bladed software, according to the present invention. Please refer to [link / reference needed]. Figures 1-2 The wind power twin master control system based on Bladed software includes a controller, which includes a CPU unit and a functional unit. The controller is configured such that the CPU unit collects the current operating status data of the wind turbine through the functional unit and the CPU unit outputs instructions to the wind turbine through the functional unit.

[0037] The CPU unit includes a control logic service module, a twin wind turbine service module, a global variable structure, and an algorithm dynamic library.

[0038] The global variable structure is configured to store the collected operating status data of the wind turbine units for the control logic service module and the twin wind turbine service module to read and write the calculation output instruction data.

[0039] The control logic service module is configured to: dynamically load the algorithm dynamic library to obtain the pointer to the global variable structure, read the data of the wind turbine into the corresponding stack frame for calculation, and correct its own output based on the output of the twin wind turbine service module before writing it into the global variable structure. The control object of the control logic service module is the actual wind turbine, including the acquisition and automatic control of signals such as switch quantities, analog quantities, and temperature quantities in the wind turbine. The control logic service module provides control logic services, including the acquisition and automatic control of signals such as hydraulic stations, gearboxes, anemometers, and safety chains on the wind turbine. This process also loads the algorithm dynamic library, enabling the real wind turbine and the twin wind turbine to be scheduled and run synchronously. Each cycle, the load data in the global variable is read and written into the global variable. The control logic service will then use this set of data to guide and correct the actions output to the actual wind turbine in real time.

[0040] The twin wind turbine service module is configured to: construct a complete aeroelastic model of a wind turbine, dynamically load the algorithm dynamic library to obtain pointers to global variable structures, read the wind turbine data into the corresponding stack frame for computation, and write the load data into global variables each cycle. The twin wind turbine service module includes models of key components such as blades, drive trains, and towers. It provides a complete aeroelastic model of the wind turbine, serving as a twin of the actual wind turbine. The main task of the twin wind turbine service module is to provide a twin wind turbine service based on the Bladed software. It establishes aeroelastic models of components such as blades, drive trains, and towers on the Bladed software platform. In the controller, it sets the control rights for pitch, yaw, and torque to external controller control. Then, it loads the Hardware Test Module to load the algorithm dynamic library file and starts the twin wind turbine service process. This process is real-time, executing core control functions such as pitch, yaw, and torque to achieve a physical mapping of the actual wind turbine's operating state. Each cycle, the load data is written into global variables allocated by the algorithm dynamic library.

[0041] When the algorithm dynamic library is loaded, it allocates a global variable containing two structures: input data and output data. The control logic service module writes data such as wind speed and direction, generator speed, limits, power, and main status words. The load quantities related to blades, tower, and hub are written by the twin wind turbine service. The output data includes pitch angle commands, yaw commands, and torque commands, which are read by the twin wind turbine service module and the control logic service module and downloaded to the twin wind turbine and the actual wind turbine, respectively. This global variable is the data transmission carrier between the actual wind turbine and the twin wind turbine. This memory-shared data transmission method greatly improves the efficiency of the twin control system.

[0042] To provide a detailed explanation of the aforementioned wind power twin master control system based on Bladed software, this invention also provides a wind power twin master control method based on Bladed software, combined with... Figure 1 and Figure 3 The specific steps are as follows:

[0043] S1. The controller collects the current operating status data of the wind turbine through the electrical function module and uploads it to the global variable body structure in the CPU unit through the communication protocol.

[0044] S2. The control logic service process of the control logic service module and the twin wind turbine service process of the twin wind turbine service module respectively load the algorithm dynamic library to obtain the pointer to the global variable structure, and read the wind turbine data into their respective stack frames to participate in the calculation.

[0045] S3. The twin wind turbine service process writes a set of load data into the global variable structure every cycle. The control logic service process and the twin wind turbine service process read the set of load data, perform calculations, and output instruction data every cycle. The control logic service process corrects its own output results based on the output results of the twin wind turbine service process and writes the instruction data into the global variable structure every cycle.

[0046] S4. The CPU unit outputs the result data to the wind turbine through the electrical function module to realize real-time closed-loop control of the wind turbine.

[0047] The specific steps for the control logic service process to correct its own output based on the output of the twin wind turbine service process are as follows: The control logic service process and the twin wind turbine service process simultaneously execute the algorithm functions in the dynamic library. The outputs of the control logic service process and the twin wind turbine service process are input into a comparator, which determines whether the result executed by the main control logic service is within the acceptable range of the twin wind turbine's execution result. If it is acceptable, the result executed by the main control logic service takes effect; otherwise, it is assigned the execution result of the twin wind turbine and output to the wind turbine unit.

[0048] Compared to traditional control methods, this invention runs the Bladed software and control logic simultaneously on a single controller. The controller is equipped with a multi-core processor to ensure that the Bladed software and the main control system logic run concurrently. Data is transferred using memory sharing, and a twin wind turbine based on the Bladed software guides and corrects the actions of the main control system logic in real time. No additional sensors are required, reducing construction difficulty and hardware costs. Furthermore, data interaction between the actual wind turbine and the twin wind turbine is achieved through data sharing within the controller, improving efficiency and truly providing real-time guidance and correction for the execution of the main control system logic.

[0049] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the disclosed embodiments can be combined with each other in any manner. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A wind power twin master control system based on Bladed software, characterized in that, include: The controller includes a CPU unit and a functional unit, and the controller is configured such that the CPU unit collects the current operating status data of the wind turbine through the functional unit and the CPU unit outputs instructions to the wind turbine through the functional unit. The CPU unit includes a control logic service module, a twin wind turbine service module, a global variable structure, and an algorithm dynamic library; The global variable structure is configured to store the collected operating status data of the wind turbine units for the control logic service module and the twin wind turbine service module to read and write the calculation output instruction data; The control logic service module is configured to: dynamically load the algorithm dynamic library to obtain the pointer to the global variable structure, read the data of the wind turbine into the corresponding stack frame to participate in the calculation, and correct its own output result according to the output result of the twin wind turbine service module before writing it into the global variable structure; The twin wind turbine service module is configured to: construct a complete wind turbine aeroelastic model, dynamically load the algorithm dynamic library to obtain the pointer to the global variable structure, read the wind turbine data into the corresponding stack frame to participate in the calculation, and write the load data into the global variable for each cycle.

2. The wind power twin master control system based on Bladed software according to claim 1, characterized in that, The functional units include a DI module, an AI module, an RTD module, and a communication module for collecting current operating status data of wind turbine units.

3. The wind power twin master control system based on Bladed software according to claim 1, characterized in that, The functional unit includes a DO module, an AO module, and a communication module for outputting commands to the wind turbine.

4. The wind power twin master control system based on Bladed software according to claim 1, characterized in that, The control logic service module and the twin wind turbine service module execute the algorithm functions in the dynamic link library step by step. The algorithm functions include pitch algorithm function, yaw algorithm function and torque algorithm function.

5. A wind power twin master control method based on Bladed software, implemented by a wind power twin master control system based on Bladed software as described in any one of claims 1-4, characterized in that, The specific steps are as follows: S1. The controller collects the current operating status data of the wind turbine through the electrical function module and uploads it to the global variable body structure in the CPU unit through the communication protocol. S2. The control logic service process of the control logic service module and the twin wind turbine service process of the twin wind turbine service module respectively load the algorithm dynamic library to obtain the pointer to the global variable structure, and read the wind turbine data into their respective stack frames to participate in the calculation. S3. The twin wind turbine service process writes a set of load data into the global variable structure every cycle. The control logic service process and the twin wind turbine service process read the set of load data, perform calculations, and output instruction data every cycle. The control logic service process corrects its own output results based on the output results of the twin wind turbine service process and writes the instruction data into the global variable structure every cycle. S4. The CPU unit outputs the result data to the wind turbine through the electrical function module to realize real-time closed-loop control of the wind turbine.

6. The wind power twin master control method based on Bladed software according to claim 5, characterized in that, The specific steps by which the control logic service process corrects its own output based on the output of the twin wind turbine service process are as follows: The control logic service process and the twin wind turbine service process execute algorithm functions in the dynamic library simultaneously; The output results of the control logic service process and the twin wind turbine service process are input into a comparator to determine whether the result executed by the main control logic service is within the acceptable range of the twin wind turbine execution result; If acceptable, the result executed by the main control logic service will take effect; otherwise, the result of the twin wind turbine will be assigned and output to the wind turbine unit.

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