A whole machine kinematic modeling method, system and device in wind turbine simulation

Abstract

The present invention provides a whole machine kinematic modeling method, system and equipment in wind turbine simulation, including: establishing a global coordinate system and coordinate systems of each component of the wind turbine based on the composition characteristics of each component of the wind turbine; reflecting the dynamic characteristic transmission mechanism by the direction cosine matrix of the coordinate conversion between the global coordinate system of the wind turbine and the coordinate systems of each component; setting the coupling constraints between components according to the connection relationship between the components in the wind turbine; constructing a kinematic model by combining the global coordinate system of the wind turbine and the coordinate systems of each component with the dynamic characteristic transmission mechanism and the coupling constraints between components. The present invention realizes the whole machine kinematic modeling of the wind turbine through coordinate system modeling, coordinate conversion and motion constraints, solving the problem that the multi-rigid body model suitable for computer automatic establishment using the Cartesian method in the prior art is not suitable for complex wind turbine generator sets composed of multiple components such as blades, hubs, transmission chains, generators, nacelles, yaws, towers, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine simulation, and in particular to a whole machine kinematics modeling method, system and equipment in wind turbine simulation. Background Art

[0002] With the development of super-large units and the application of new technologies such as super-long blades, high and flexible towers, and offshore wind power, the operation characteristics of wind turbines are superimposed on complex environmental loads, and the application scope of the original whole-machine coupling simulation technology is exceeded. The kinematic modeling technology of wind turbines is studied, and the motion relationship of the whole machine rigid-flexible coupling multi-body system is described by the floating coordinate system method. The multi-body dynamic coupling modeling technology of the unit is studied, and the dynamic characteristics of the components and the coupling connection constraint relationship are considered to construct the whole machine rigid-flexible coupling dynamic equation group.

[0003] The Cartesian method is a method for modeling a multi-rigid body system. It takes each object in the system as a unit and establishes a coordinate system fixed on the rigid body. The position of the rigid body is defined relative to a common reference base. Its position coordinates (also called generalized coordinates) are unified into the Cartesian coordinates of the base point of the rigid body coordinate system and the azimuth coordinates of the coordinate system. The azimuth coordinates can be selected from Euler angles or Euler parameters. The position coordinates of a single object are 3 in a two-dimensional system and 6 in a three-dimensional system. For a system composed of N rigid bodies, the number of coordinates in the position coordinate matrix is ​​3N (two-dimensional) or 6N (three-dimensional). Due to the existence of hinge constraints, these position coordinates are not independent. The general form of the system dynamics model can be expressed as

[0004]

[0005] Where Ф is the constraint equation of the position coordinate matrix q, is the Jacobian matrix of the constraint equation, λ is the Lagrange factor, A and B are constants, is the acceleration. The Cartesian method is applicable to multi-rigid body systems, q is the position matrix, and t is the time.

[0006] The method is suitable for multi-rigid body models automatically established by computers, but is not suitable for complex wind turbine generator sets composed of multiple components such as blades, hubs, transmission chains, generators, nacelles, yaws, towers, etc. Summary of the invention

[0007] In order to solve the problem that the existing technology uses the Cartesian method to automatically establish a multi-rigid body model suitable for computers, but is not suitable for complex wind turbine generator sets composed of multiple components such as blades, hubs, transmission chains, generators, nacelles, yaws, towers, etc., the present invention proposes a whole machine kinematic modeling method in wind turbine simulation, including:

[0008] Based on the composition characteristics of each component of the wind turbine, the global coordinate system of the wind turbine and the coordinate system of each component are established;

[0009] The direction cosine matrix of coordinate transformation between the global coordinate system of the wind turbine and the coordinate systems of each component reflects the dynamic characteristic transmission mechanism;

[0010] According to the connection relationship between the components in the wind turbine, set the coupling constraints between the components;

[0011] A kinematic model is constructed by combining the global coordinate system of the wind turbine set and the coordinate systems of each component with a dynamic characteristic transmission mechanism and coupling constraints between components;

[0012] Wherein, the coupling constraint includes a fixed constraint and a rotation hinge constraint.

[0013] Optionally, the establishing of the wind turbine global coordinate system and the coordinate systems of the components based on the composition characteristics of the components of the wind turbine includes:

[0014] Taking the center of the tower bottom as the coordinate origin, along the front and rear direction of the unit x Direction, along the left and right direction of the unit y Direction, along the height direction of the unit z Direction, establish the global coordinate system of the wind turbine xyz ;

[0015] The individuals in the wind turbine that are prone to elastic deformation are constructed as a flexible component coordinate system;

[0016] The individuals in the wind turbine that are not prone to elastic deformation are constructed into a rigid component coordinate system.

[0017] Optionally, constructing a rigid component coordinate system for the individuals in the wind turbine generator set that are not prone to elastic deformation includes:

[0018] Taking the center of any section of the tower as the coordinate origin, along the front and rear direction of the unit x tj Direction, along the left and right direction of the unit y tj Direction, along the height direction of the unit z tj Direction, establish the tower coordinate system x tj y tj z tj ;

[0019] Taking the yaw bearing center as the coordinate origin, the global coordinate system ICS x , y Around z Yaw angle of nacelle axis rotation θ yaw As the initial state of the unit xn , y n , along the unit height direction z n , establish the cabin yaw coordinate system x n y n z n .

[0020] Optionally, constructing the individuals in the wind turbine generator set that are susceptible to elastic deformation as a flexible component coordinate system includes:

[0021] The origin of the coordinate system is the wheel hub mass center, and the yaw coordinate system of the nacelle is x n , z n Around y n Axis rotation spindle inclination θ tilt get x h , z h Constructing the hub coordinate system x h y h z h ;

[0022] The blade root pitch center is taken as the origin of the coordinate system, and the hub coordinate system is centered around x h Phase angle of the rotating blade φ for x Br , around y h The shaft rotates the blade cone angle θ cone y Br , initial installation angle around the axis θ set for z Br Constructing the leaf-root coordinate system x Br y Br z Br ;

[0023] Taking the elastic center of any section of the blade as the coordinate origin, the blade root coordinate system x Br , y Br , zBr Rotate the set angles according to the direction of the elastic axis and obtain x Bi , y Bi , z Bi , construct the blade coordinate system x Bi y Bi z Bi .

[0024] Optionally, the direction cosine matrix of coordinate transformation between the global coordinate system of the wind turbine generator set and the coordinate systems of each component reflects the dynamic characteristic transmission mechanism, including:

[0025] The tower coordinate system is converted to the global coordinate system, the nacelle yaw coordinate system is converted to the tower coordinate system, the hub coordinate system is converted to the nacelle yaw coordinate system, the blade root coordinate system is converted to the hub coordinate system, and the blade coordinate system is converted to the blade root coordinate system, and the direction cosine matrix of the coordinate conversion between each coordinate system is obtained respectively;

[0026] The coordinate systems of the components include: tower coordinate system, nacelle yaw coordinate system, hub coordinate system, blade root coordinate system and blade coordinate system;

[0027] The blade root coordinate system includes a first blade root coordinate system, a second blade root coordinate system and a third blade root coordinate system.

[0028] Optionally, the direction cosine matrices for coordinate transformation between the coordinate systems include: the direction cosine matrix for transforming the tower coordinate system to the global coordinate system, the direction cosine matrix for transforming the nacelle yaw coordinate system to the tower coordinate system, the direction cosine matrix for transforming the hub coordinate system to the nacelle yaw coordinate system, the direction cosine matrix for transforming the root coordinate systems of the first, second and third blades to the hub coordinate system, and the direction cosine matrix for transforming the blade coordinate system to the root coordinate system.

[0029] Optionally, the direction cosine matrix for converting the tower coordinate system to the global coordinate system is as follows:

[0030]

[0031] In the formula, The direction cosine matrix is ​​used to transform the tower coordinate system into the global coordinate system.

[0032] Optionally, the direction cosine matrix of the nacelle yaw coordinate system converted to the tower coordinate system is as follows:

[0033]

[0034] In the formula, The direction cosine matrix for converting the nacelle yaw coordinate system to the tower coordinate system; For the global coordinate system ICS x , y Around z Axis rotation nacelle yaw angle.

[0035] Optionally, the direction cosine matrix of the hub coordinate system converted to the nacelle yaw coordinate system is as follows:

[0036]

[0037] In the formula, The direction cosine matrix for converting the nacelle yaw coordinate system to the tower coordinate system; is the yaw coordinate system of the cabin x n , z n Around y n Axis rotation spindle inclination.

[0038] Optionally, the direction cosine matrix of the first blade root coordinate system converted to the hub coordinate system is as follows:

[0039]

[0040] In the formula, The direction cosine matrix for transforming the root coordinate system of the first blade to the hub coordinate system; The hub coordinate system is y h The shaft rotates the blade cone angle; is the pitch angle.

[0041] Optionally, the direction cosine matrix of the second and third blade root coordinate systems converted to the hub coordinate system is as follows:

[0042] (5)

[0043]

[0044] In the formula, , These are the direction cosine matrices for converting the root coordinate system of the second and third blades to the hub coordinate system.

[0045] Optionally, the direction cosine matrix of the blade coordinate system converted to the blade root coordinate system is as follows:

[0046]

[0047] In the formula, The direction cosine matrix for transforming the blade coordinate system to the blade root coordinate system; The included angle in the z direction from the blade coordinate system to the blade root coordinate system; The angle in the y direction from the blade coordinate system to the blade root coordinate system; is the angle in the x direction from the blade coordinate system to the blade root coordinate system.

[0048] Optionally, setting the coupling constraints between components according to the connection relationship between the components in the wind turbine generator system includes:

[0049] Based on the consolidation between the tower and the ground, the yaw flange is fixed to the tower, the nacelle is fixed to the yaw flange, there is rotational freedom between the low-speed shaft and the nacelle, the hub is fixed to the low-speed shaft, the pitch flange is fixed to the hub, there is rotational freedom between the blade and the pitch flange, and in the constraint relationship of the wind turbine components, fixed constraints and rotation hinge constraints are set;

[0050] The wind turbine components include: a tower, a yaw flange, a nacelle, a low-speed shaft, a hub, a pitch flange and blades.

[0051] Optionally, the rotary joint constraint includes: a velocity constraint equation and an acceleration constraint equation for relative rotation constraints between the nacelle and the hub in two directions.

[0052] Optionally, the velocity constraint equation for the relative rotation constraint between the nacelle and the hub in two directions is as follows:

[0053]

[0054] In the formula, is the speed constraint for the relative rotation between the nacelle and the hub, is the vector d h1 With vector d h The speed constraint relationship is is the vector d h2 With vector d h The speed constraint relationship is For vector d n The velocity vector, is the vector d h1 The velocity vector, is d h2 The velocity vector.

[0055] Optionally, the acceleration constraint equation is as follows:

[0056]

[0057] In the formula, R n For vectord n The Euler quaternion, R h For vector d h The Euler quaternion of For vector d h The derivative of the Euler quaternion is, For vector d n The derivative of the Euler quaternion is, For vector d n The acceleration of For vector d h The acceleration of is d h2 The transpose of is the vector d h1 The transpose of .

[0058] In another aspect, the present invention further provides a whole machine kinematic modeling system for wind turbine simulation, comprising:

[0059] A coordinate system building module is used to establish the global coordinate system of the wind turbine and the coordinate systems of each component based on the composition characteristics of each component of the wind turbine;

[0060] Coordinate transformation module, used to reflect the dynamic characteristic transmission mechanism by the direction cosine matrix of coordinate transformation between the global coordinate system of the wind turbine and the coordinate systems of each component;

[0061] A constraint setting module, used to set coupling constraints between components according to the connection relationship between the components in the wind turbine generator set;

[0062] A model building module, used to build a kinematic model based on the global coordinate system of the wind turbine set, the coordinate systems of each component, combined with a dynamic characteristic transmission mechanism and coupling constraints between components;

[0063] Wherein, the coupling constraint includes a fixed constraint and a rotation hinge constraint.

[0064] Optionally, the coordinate system construction module includes:

[0065] The global coordinate construction submodule is used to take the center of the tower bottom as the coordinate origin and x Direction, along the left and right direction of the unit y Direction, along the height direction of the unit z Direction, establish the global coordinate system of the wind turbine xyz ;

[0066] A flexible component coordinate construction submodule is used to construct the individuals in the wind turbine that are prone to elastic deformation into a flexible component coordinate system;

[0067] The rigid component coordinate construction submodule is used to construct a rigid component coordinate system for the individuals in the wind turbine that are not prone to elastic deformation.

[0068] Optionally, the flexible component coordinate construction submodule is specifically used for:

[0069] The origin of the coordinate system is the wheel hub mass center, and the yaw coordinate system of the nacelle is x n , z n Around y n Axis rotation spindle inclination θ tilt get x h , z h Constructing the hub coordinate system x h y h z h ;

[0070] The blade root pitch center is taken as the origin of the coordinate system, and the hub coordinate system is centered around x h The phase angle at which the blade is rotated in the direction φ for x Br , around y h The shaft rotates the blade cone angle θ cone y Br , initial installation angle around the axis θ set for z Br Constructing the leaf-root coordinate system x Br y Br z Br ;

[0071] Taking the elastic center of any section of the blade as the coordinate origin, the blade root coordinate system x Br , y Br , z Br Rotate the set angles according to the direction of the elastic axis and obtain x Bi , y Bi , z Bi, construct the blade coordinate system x Bi y Bi z Bi .

[0072] Optionally, the rigid component coordinate construction submodule is specifically used for:

[0073] Taking the center of any section of the tower as the coordinate origin, along the front and rear direction of the unit x tj Direction, along the left and right direction of the unit y tj Direction, along the height direction of the unit z tj Direction, establish the tower coordinate system x tj y tj z tj ;

[0074] Taking the yaw bearing center as the coordinate origin, the global coordinate system ICS x , y Around z Yaw angle of nacelle axis rotation θ yaw As the initial state of the unit x n , y n , along the unit height direction z n , establish the cabin yaw coordinate system x n y n z n .

[0075] Optionally, the coordinate conversion module is specifically used for:

[0076] The tower coordinate system is converted to the global coordinate system, the nacelle yaw coordinate system is converted to the tower coordinate system, the hub coordinate system is converted to the nacelle yaw coordinate system, the blade root coordinate system is converted to the hub coordinate system, and the blade coordinate system is converted to the blade root coordinate system, and the direction cosine matrix of the coordinate conversion between each coordinate system is obtained respectively;

[0077] The coordinate systems of the components include: tower coordinate system, nacelle yaw coordinate system, hub coordinate system, blade root coordinate system and blade coordinate system;

[0078] The blade root coordinate system includes a first blade root coordinate system, a second blade root coordinate system and a third blade root coordinate system.

[0079] Optionally, the direction cosine matrices for coordinate transformation between the coordinate systems include: the direction cosine matrix for transforming the tower coordinate system to the global coordinate system, the direction cosine matrix for transforming the nacelle yaw coordinate system to the tower coordinate system, the direction cosine matrix for transforming the hub coordinate system to the nacelle yaw coordinate system, the direction cosine matrix for transforming the root coordinate systems of the first, second and third blades to the hub coordinate system, and the direction cosine matrix for transforming the blade coordinate system to the root coordinate system.

[0080] Optionally, the direction cosine matrix for converting the tower coordinate system to the global coordinate system is as follows:

[0081]

[0082] In the formula, The direction cosine matrix is ​​used to transform the tower coordinate system into the global coordinate system.

[0083] Optionally, the direction cosine matrix of the nacelle yaw coordinate system converted to the tower coordinate system is as follows:

[0084]

[0085] In the formula, The direction cosine matrix for converting the nacelle yaw coordinate system to the tower coordinate system; For the global coordinate system ICS x , y Around z Axis rotation nacelle yaw angle.

[0086] Optionally, the direction cosine matrix of the hub coordinate system converted to the nacelle yaw coordinate system is as follows:

[0087]

[0088] In the formula, The direction cosine matrix for converting the nacelle yaw coordinate system to the tower coordinate system; is the yaw coordinate system of the cabin x n , z n Around y n Axis rotation spindle inclination.

[0089] Optionally, the direction cosine matrix of the first blade root coordinate system converted to the hub coordinate system is as follows:

[0090]

[0091] In the formula, The direction cosine matrix for transforming the root coordinate system of the first blade to the hub coordinate system; The hub coordinate system is y h The shaft rotates the blade cone angle; is the pitch angle.

[0092] Optionally, the direction cosine matrix of the second and third blade root coordinate systems converted to the hub coordinate system is as follows:

[0093]

[0094] In the formula, , These are the direction cosine matrices for converting the root coordinate system of the second and third blades to the hub coordinate system.

[0095] Optionally, the direction cosine matrix of the blade coordinate system converted to the blade root coordinate system is as follows:

[0096]

[0097] In the formula, The direction cosine matrix for transforming the blade coordinate system to the blade root coordinate system; The included angle in the z direction from the blade coordinate system to the blade root coordinate system; The angle in the y direction from the blade coordinate system to the blade root coordinate system; is the angle in the x direction from the blade coordinate system to the blade root coordinate system.

[0098] Optionally, the constraint setting module is specifically used to:

[0099] Based on the consolidation between the tower and the ground, the yaw flange is fixed to the tower, the nacelle is fixed to the yaw flange, there is rotational freedom between the low-speed shaft and the nacelle, the hub is fixed to the low-speed shaft, the pitch flange is fixed to the hub, there is rotational freedom between the blade and the pitch flange, and in the constraint relationship of the wind turbine components, fixed constraints and rotation hinge constraints are set;

[0100] The wind turbine components include: a tower, a yaw flange, a nacelle, a low-speed shaft, a hub, a pitch flange and blades.

[0101] Optionally, the rotary joint constraint includes: a velocity constraint equation and an acceleration constraint equation for relative rotation constraints between the nacelle and the hub in two directions.

[0102] Optionally, the velocity constraint equation for the relative rotation constraint between the nacelle and the hub in two directions is as follows:

[0103]

[0104] In the formula, is the vector d h1 With vector d h The speed constraint relationship is is the vector d h2 With vector d h The speed constraint relationship is For vector d n The velocity vector, is the vector d h1 The velocity vector, is d h2 The velocity vector.

[0105] Optionally, the acceleration constraint equation is as follows:

[0106]

[0107] In the formula, R n For vector d n The Euler quaternion, R h For vector d h The Euler quaternion of For vector d h The derivative of the Euler quaternion is, For vector d n The derivative of the Euler quaternion is, For vector d n The acceleration of For vector d h The acceleration of is d h2 The transpose of is the vector d h1 The transpose of .

[0108] On the other hand, the present application also provides an electronic device, including: at least one processor and a memory;

[0109] The memory is used to store one or more programs;

[0110] When the one or more programs are executed by the at least one processor, the whole machine kinematic modeling method in the wind turbine simulation as described above is implemented.

[0111] On the other hand, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the whole machine kinematic modeling method in a wind turbine simulation as described above is implemented.

[0112] Compared with the prior art, the present invention has the following beneficial effects:

[0113] The present invention provides a method for kinematic modeling of the whole machine in the simulation of a wind turbine generator set, including: establishing a global coordinate system of the wind turbine generator set and coordinate systems of each component based on the composition characteristics of each component of the wind turbine generator set; reflecting the dynamic characteristic transmission mechanism by the direction cosine matrix of the coordinate transformation between the global coordinate system of the wind turbine generator set and the coordinate systems of each component; setting coupling constraints between components according to the connection relationship between the components in the wind turbine generator set; constructing a kinematic model by combining the global coordinate system of the wind turbine generator set and the coordinate systems of each component with the dynamic characteristic transmission mechanism and coupling constraints between components; wherein the coupling constraints include fixed constraints and rotary hinge constraints. The present invention realizes the kinematic modeling of the whole machine of the wind turbine generator set through coordinate system modeling, coordinate transformation and motion constraints, solving the problem that the multi-rigid body model suitable for computer automatic establishment using the Cartesian method in the prior art is not suitable for complex wind turbine generator sets composed of multiple components such as blades, hubs, transmission chains, generators, nacelles, yaws, towers, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0114] Figure 1 A flow chart of a whole machine kinematic modeling method in wind turbine simulation of the present invention;

[0115] Figure 2 It is a schematic diagram of the coordinate system of the wind turbine generator set of the present invention;

[0116] Figure 3 The topological structure diagram of the wind turbine generator system of the present invention;

[0117] Figure 4 It is a schematic diagram of the rotation constraint between the nacelle and the hub of the present invention;

[0118] Figure 5 The figure is a schematic diagram of an electronic device of the present invention. DETAILED DESCRIPTION

[0119] The present invention studies the whole machine nonlinear coupling simulation analysis technology, realizes the whole machine kinematic modeling of the wind turbine through coordinate system modeling, coordinate transformation and motion constraints, and can further carry out dynamic modeling of the main key components of the wind turbine such as the tower, yaw, transmission system and blades. Promote the technological innovation and upgrading of the design and development of ultra-large wind turbines, accelerate the industrialization process of ultra-large wind turbines, enhance the overall R&D capabilities and international competitiveness of the industry, and help the R&D and manufacturing capabilities of large wind power equipment reach advanced levels. At the same time, this technology has a significant industry guidance and demonstration role, has broad market prospects and social benefits, effectively supports the clean transformation of the energy structure, improves the core competitiveness of key wind power technologies in the world, and promotes the scale and sustainable development of the wind power industry.

[0120] In order to better understand the present invention, the content of the present invention is further described below in conjunction with the accompanying drawings and embodiments of the specification.

[0121] Embodiment 1:

[0122] A whole machine kinematic modeling method in wind turbine simulation, such as Figure 1 As shown, including:

[0123] Step 1: Based on the composition characteristics of each component of the wind turbine, establish the global coordinate system of the wind turbine and the coordinate system of each component;

[0124] Step 2: The direction cosine matrix of coordinate transformation between the global coordinate system of the wind turbine and the coordinate systems of each component reflects the dynamic characteristic transmission mechanism;

[0125] Step 3: According to the connection relationship between the components in the wind turbine, set the coupling constraints between the components;

[0126] Step 4: Construct a kinematic model based on the global coordinate system of the wind turbine and the coordinate systems of each component, combined with the dynamic characteristic transfer mechanism and the coupling constraints between components.

[0127] Wind turbines are complex systems composed of blades, hubs, transmission chains, generators, nacelles, yaws, towers and other components in a certain topological form. During the movement of wind turbines, blades and towers are flexible bodies that are prone to elastic deformation, while hubs, yaws, nacelles, etc. are rigid bodies. The wind turbine can be modeled as a rigid-flexible coupling model. By establishing the body coordinate system and the whole machine coordinate system of various components, and applying coupling constraints such as ball joints, springs, and dampers between components, the kinematic modeling of the whole wind turbine can be realized. The multi-body dynamic coupling modeling technology of the unit is studied, and the dynamic characteristics of the components and the coupling connection constraint relationship are considered to construct the rigid-flexible coupling dynamic equation group of the whole machine.

[0128] Step 1: Based on the composition characteristics of each component of the wind turbine, establish the global coordinate system of the wind turbine and the coordinate system of each component, including:

[0129] Taking the center of the tower bottom as the coordinate origin, along the front and rear direction of the unit x Direction, along the left and right direction of the unit y Direction, along the height direction of the unit z Direction, establish the global coordinate system of the wind turbine xyz ;

[0130] The individuals in the wind turbine that are prone to elastic deformation are constructed as a flexible component coordinate system;

[0131] The individuals in the wind turbine that are not prone to elastic deformation are constructed into a rigid component coordinate system.

[0132] Furthermore, the step of constructing a rigid component coordinate system for the individuals in the wind turbine generator set that are not prone to elastic deformation includes:

[0133] Taking the center of any section of the tower as the coordinate origin, along the front and rear direction of the unit x tj Direction, along the left and right direction of the unit y tj Direction, along the height direction of the unit z tj Direction, establish the tower coordinate system x tj y tj z tj ;

[0134] Taking the yaw bearing center as the coordinate origin, the global coordinate system ICS x , y Around z Yaw angle of nacelle axis rotation θ yaw As the initial state of the unit x n , y n , along the unit height direction z n , establish the cabin yaw coordinate system x n y n z n .

[0135] Furthermore, the individual units in the wind turbine generator set that are susceptible to elastic deformation are constructed as a flexible component coordinate system, including:

[0136] The origin of the coordinate system is the wheel hub mass center, and the yaw coordinate system of the nacelle is x n , z n Around y n Axis rotation spindle inclination θ tilt get x h , z h Constructing the hub coordinate system x h y h z h ;

[0137] The blade root pitch center is taken as the origin of the coordinate system, and the hub coordinate system is centered aroundx h The phase angle at which the blade is rotated in the direction φ for x Br , around y h The shaft rotates the blade cone angle θ cone y Br , initial installation angle around the axis θ set for z Br Constructing the leaf-root coordinate system x Br y Br z Br ;

[0138] Taking the elastic center of any section of the blade as the coordinate origin, the blade root coordinate system x Br , y Br , z Br Rotate the set angles according to the direction of the elastic axis and obtain x Bi , y Bi , z Bi , construct the blade coordinate system x Bi y Bi z Bi .

[0139] Step S1 specifically includes:

[0140] 1 Coordinate system modeling

[0141] Based on the component composition characteristics, a global coordinate system and five component coordinate systems are established for the wind turbine, such as Figure 2 As shown, in this embodiment, the subscript tj represents the tower, n represents the nacelle, h represents the hub, Br represents the blade root, and Bi represents the blade, as shown in detail below:

[0142] (1) Global coordinate system xyz , marked as ICS, the origin O of the coordinate system is located at the center of the bottom of the tower, x The direction is along the front and rear direction of the unit. y The direction is along the left and right direction of the unit. z The direction is along the height of the unit, which conforms to the right-hand screw principle. This coordinate system reflects the macroscopic motion response of the whole machine during the operation of the wind turbine.

[0143] (2) Tower coordinate system x tj y tj z tj , marked as TCS, this coordinate system is the tower body coordinate system, the origin can be located at the center of any section of the tower, the direction of the tower in the initial state is the same as the global coordinate system ICS, the coordinate system will change at a small angle under deformation, this coordinate system reflects the deformation of the flexible tower, the x in the figure tm ,y tm and z tm They represent the x-axis, y-axis, and z-axis coordinates of the tower at point m, respectively. t1 ,y t1 、z t1 They represent the coordinates of the x-axis, y-axis, and z-axis directions at a point on the tower, respectively. t2 ,y t2 、z t2 They respectively represent the coordinates of two points on the tower in the x-axis direction, the y-axis direction, and the z-axis direction.

[0144] (3) Cabin yaw coordinate system x n y n z n , marked as NCS, this coordinate system is the cabin body coordinate system, the origin is located at the center of the yaw bearing, and the unit is in the initial state x n , y n The global coordinate system ICS x , y Around z Yaw angle of nacelle axis rotation θ yaw It is obtained that during the operation of the unit, the cabin will undergo a small six-degree-of-freedom movement, such as forward and backward movement, pitch movement, etc., and the coordinate system will also undergo some changes to reflect the cabin motion information.

[0145] (4) Hub coordinate system x h y h z h , marked as HCS, the origin of the coordinate system is located at the center of mass of the wheel hub, x n , z h The yaw coordinate system of the cabin can be x n ,z n Around y n Axis rotation spindle inclination θ tilt It is found that this coordinate system reflects the motion and load characteristics of the hub and spindle.

[0146] (5) Blade root coordinate system x Br y Br z Br , marked as RCS, the origin of this coordinate system is located at the blade root pitch center, when the blade is not deformed, this coordinate system can be rotated by the hub coordinate system HCS x h The phase angle of the blade rotation direction φ (The default initial phase angles of the three blades are 0°, 120°, and 240° respectively), and then y h The shaft rotates the blade cone angle θ cone, and finally rotate the initial installation angle around the axis θ set , this coordinate system reflects the overall deformation and load characteristics of the entire blade.

[0147] (6) Blade coordinate system x Bi y Bi z Bi , marked as BCS, this coordinate system is the blade body coordinate system, and the origin can be located at the elastic center of any section of the blade. x Bi , y Bi , z Bi It can be obtained from the blade root coordinate system RCS x Br , y Br , z Br The coordinate system is obtained by rotating a certain angle according to the direction of the elastic axis and translating, which reflects the characteristics of blade pre-bending and pre-twisting, airfoil geometry and stiffness distribution, and in-plane and out-of-plane coupling.

[0148] Step S2 reflects the dynamic characteristic transmission mechanism by the direction cosine matrix of the coordinate transformation between the global coordinate system of the wind turbine and the coordinate systems of each component, including:

[0149] The tower coordinate system is converted to the global coordinate system, the nacelle yaw coordinate system is converted to the tower coordinate system, the hub coordinate system is converted to the nacelle yaw coordinate system, the blade root coordinate system is converted to the hub coordinate system, and the blade coordinate system is converted to the blade root coordinate system, and the direction cosine matrix of the coordinate conversion between each coordinate system is obtained respectively;

[0150] The coordinate systems of the components include: tower coordinate system, nacelle yaw coordinate system, hub coordinate system, blade root coordinate system and blade coordinate system;

[0151] The blade root coordinate system includes a first blade root coordinate system, a second blade root coordinate system and a third blade root coordinate system.

[0152] The direction cosine matrices for coordinate conversion between the coordinate systems include: the direction cosine matrix for converting the tower coordinate system to the global coordinate system, the direction cosine matrix for converting the nacelle yaw coordinate system to the tower coordinate system, the direction cosine matrix for converting the hub coordinate system to the nacelle yaw coordinate system, the direction cosine matrix for converting the root coordinate systems of the first, second and third blades to the hub coordinate system, and the direction cosine matrix for converting the blade coordinate system to the root coordinate system.

[0153] Step S2 specifically includes:

[0154] 2 Coordinate system transformation

[0155] During the simulation of wind turbine operation, motion and load are transmitted between different components. In order to solve the dynamic response of components and the whole machine, it is necessary to transform the displacement, velocity, acceleration, force, torque and other dynamic parameter data of the components to reflect the dynamic characteristic transmission mechanism. The direction cosine matrix of coordinate transformation between coordinate systems is as follows:

[0156] (1) Conversion of tower coordinate system TCS to global coordinate system ICS:

[0157] (1)

[0158] In the formula, The direction cosine matrix is ​​used to transform the tower coordinate system into the global coordinate system.

[0159] (2) Conversion of the nacelle yaw coordinate system NCS to the tower coordinate system TCS:

[0160] (2)

[0161] In the formula, To transform the nacelle yaw coordinate system into the tower coordinate system, the direction cosine matrix is: For the global coordinate system ICS x , y Around z Axis rotation nacelle yaw angle.

[0162] (3) Conversion of the hub coordinate system HCS to the nacelle yaw coordinate system NCS:

[0163] (3)

[0164] In the formula, The direction cosine matrix for converting the nacelle yaw coordinate system to the tower coordinate system; is the yaw coordinate system of the cabin x n , z n Around y n Axis rotation spindle inclination.

[0165] (4) The first blade root coordinate system RCS is converted to the hub coordinate system HCS:

[0166] (4)

[0167] In the formula, The direction cosine matrix for transforming the root coordinate system of the first blade into the hub coordinate system; The hub coordinate system is y h The shaft rotates the blade cone angle; Considering the phase angle relationship between the blades, the direction cosine matrix of the coordinate conversion between the blade root coordinate system RCS of the second and third blades and the hub coordinate system HCS is and :

[0168] (5)

[0169] (6)

[0170] (5) The blade coordinate system BCS is converted to the blade root coordinate system RCS:

[0171] (7)

[0172] In the formula, The direction cosine matrix for transforming the blade coordinate system to the blade root coordinate system; The included angle in the z direction from the blade coordinate system to the blade root coordinate system; The angle in the y direction from the blade coordinate system to the blade root coordinate system; is the angle in the x direction from the blade coordinate system to the blade root coordinate system.

[0173] The above content gives the transformation relationship between any adjacent coordinate systems, because the transformation between any two coordinate systems can be obtained through continuous coordinate system transformation.

[0174] It must be noted that the blades and towers undergo elastic deformation during the operation of the wind turbine, and the transformation matrix will undergo some changes. Taking the blade as an example, considering the blade deformation, the transformation matrix A of the blade coordinate system BCS relative to the global coordinate system ICS is li for:

[0175] (8)

[0176] In the formula, R li , R 2i , R 3i and , , It is the matrix composed of the Euler quaternions of the three blade coordinate systems of the unit relative to the hub coordinate system HCS; , , are the transformation matrices of the blade 1, 2, and 3 blade coordinate systems relative to the global coordinate system ICS, A IH is the transformation matrix of the hub coordinate system HCS relative to the global coordinate system ICS, , , is the transformation matrix of blade 1, 2, 3 blade coordinate system relative to hub coordinate system HCS, R h and It is the matrix composed of the Euler quaternions of the hub coordinate system HCS relative to the global coordinate system ICS.

[0177] The blade mass center in the global coordinate system ICS is:

[0178] (9)

[0179] In the formula, r bi is the transformation matrix of the blade mass center relative to the global coordinate system, r h1_i 、r h2_i 、r h3_i are the coordinates of the elastic axis center of each blade section, A IH and r h They are the transformation matrix and transformation coordinates in the transformation process respectively.

[0180] Step S3: According to the connection relationship between the components in the wind turbine, the coupling constraints between the components are set, including:

[0181] Based on the consolidation between the tower and the ground, the yaw flange is fixed to the tower, the nacelle is fixed to the yaw flange, there is rotational freedom between the low-speed shaft and the nacelle, the hub is fixed to the low-speed shaft, the pitch flange is fixed to the hub, there is rotational freedom between the blade and the pitch flange, and in the constraint relationship of the wind turbine components, fixed constraints and rotation hinge constraints are set;

[0182] The wind turbine components include: a tower, a yaw flange, a nacelle, a low-speed shaft, a hub, a pitch flange and blades; and the coupling constraints include fixed constraints and rotary hinge constraints.

[0183] Step S3 specifically includes:

[0184] Motion Constraint Equations

[0185] The topological diagram of the wind turbine dynamics model is as follows: Figure 3 As shown. The tower is fixed to the ground, the yaw flange is fixed to the tower, the nacelle is fixed to the yaw flange, there is rotational freedom between the low-speed shaft and the nacelle, the hub is fixed to the low-speed shaft, the pitch flange is fixed to the hub, and there is rotational freedom between the blade and the pitch flange. Therefore, in the constraint relationship of the wind turbine components, there are mainly fixed constraints and rotary hinge constraints. The former is a full constraint of three translational degrees of freedom and three rotational degrees of freedom, and the latter is a constraint of three translational degrees of freedom and two rotational degrees of freedom, with only one rotational degree of freedom.

[0186] Taking the rotation hinge constraint of the hub and the nacelle as an example, the hinge point is P During the operation of the wind turbine, the nacelle and the hub are e 1 and e 2. Restrict the rotation in two mutually perpendicular directions and define the vectors fixed on the two parts respectively. d n and d h ,like Figure 4 As shown. During the rotation process, the vector d n and d h Should always remain parallel, so we have:

[0187] (10)

[0188] In the formula, is the position constraint relationship between the nacelle and the hub in two directions, d n is a vector fixed on the nacelle, d h is a vector fixed on the wheel hub. Consider the vector d h Vectors that are always in a perpendicular relationship dh1 and d h2 , these two variables are e 1 and e 2 are parallel, then (10) becomes:

[0189] (11)

[0190] Where, d h1 d h2 For vector d h Always keep two orthogonal conjoined vectors perpendicular to each other. is the vector d h1 With vector d h The constraints of is the vector d h2 With vector d h constraint relationship.

[0191] By differentiating equation (11), we can obtain the velocity constraint equation for the relative rotation constraint between the nacelle and the hub in two directions:

[0192] (12)

[0193] The acceleration constraint equation is:

[0194] (13)

[0195] This technology provides a solid technical foundation for the development, demonstration and promotion of wind turbine simulation design software, realizes the refined modeling of all working conditions and multi-field coupling simulation of the whole series of wind turbines, promotes the technical innovation and upgrading of the design and development of super-large wind turbines, accelerates the industrialization process of super-large wind turbines, enhances the overall R&D capabilities and international competitiveness of the industry, and helps the R&D and manufacturing capabilities of large wind power equipment reach the international advanced level. At the same time, this technology has a significant industry guidance and demonstration role, has broad market prospects and social benefits, effectively supports the clean transformation of energy structure, improves the core competitiveness of my country's key wind power technologies in the world, and promotes the scale and sustainable development of my country's wind power industry.

[0196] Embodiment 2:

[0197] The present invention based on the same inventive concept also provides a whole machine kinematics modeling system in wind turbine simulation, comprising:

[0198] A coordinate system building module is used to establish the global coordinate system of the wind turbine and the coordinate systems of each component based on the composition characteristics of each component of the wind turbine;

[0199] Coordinate transformation module, used to reflect the dynamic characteristic transmission mechanism by the direction cosine matrix of coordinate transformation between the global coordinate system of the wind turbine and the coordinate systems of each component;

[0200] A constraint setting module, used to set coupling constraints between components according to the connection relationship between the components in the wind turbine generator set;

[0201] A model building module, used to build a kinematic model based on the global coordinate system of the wind turbine set, the coordinate systems of each component, combined with a dynamic characteristic transmission mechanism and coupling constraints between components;

[0202] Wherein, the coupling constraint includes a fixed constraint and a rotation hinge constraint.

[0203] Optionally, the coordinate system construction module includes:

[0204] The global coordinate construction submodule is used to take the center of the tower bottom as the coordinate origin and x Direction, along the left and right direction of the unit y Direction, along the height direction of the unit z Direction, establish the global coordinate system of the wind turbine xyz ;

[0205] A flexible component coordinate construction submodule is used to construct the individuals in the wind turbine that are prone to elastic deformation into a flexible component coordinate system;

[0206] The rigid component coordinate construction submodule is used to construct a rigid component coordinate system for the individuals in the wind turbine that are not prone to elastic deformation.

[0207] Optionally, the flexible component coordinate construction submodule is specifically used for:

[0208] The origin of the coordinate system is the wheel hub mass center, and the yaw coordinate system of the nacelle is x n , z n Around y n Axis rotation spindle inclination θ tilt get x h , z h Constructing the hub coordinate system x h y h z h ;

[0209] The blade root pitch center is taken as the origin of the coordinate system, and the hub coordinate system is centered around x h The phase angle at which the blade is rotated in the direction φ for x Br , around y h The shaft rotates the blade cone angle for y Br , initial installation angle around the axis θ set for z Br Constructing the leaf-root coordinate system x Br y Br z Br ;

[0210] Taking the elastic center of any section of the blade as the coordinate origin, the blade root coordinate system x Br , y Br , z Br Rotate the set angles according to the direction of the elastic axis and obtain x Bi , y Bi , z Bi , construct the blade coordinate system x Bi y Bi z Bi .

[0211] Optionally, the rigid component coordinate construction submodule is specifically used for:

[0212] Taking the center of any section of the tower as the coordinate origin, along the front and rear direction of the unit x tj Direction, along the left and right direction of the unit y tj Direction, along the height direction of the unit z tj Direction, establish the tower coordinate system x tj y tj z tj ;

[0213] Taking the yaw bearing center as the coordinate origin, the global coordinate system ICS x , y Around z Yaw angle of nacelle axis rotation θ yawAs the initial state of the unit x n , y n , along the unit height direction z n , establish the cabin yaw coordinate system x n y n z n .

[0214] Optionally, the coordinate conversion module is specifically used for:

[0215] The tower coordinate system is converted to the global coordinate system, the nacelle yaw coordinate system is converted to the tower coordinate system, the hub coordinate system is converted to the nacelle yaw coordinate system, the blade root coordinate system is converted to the hub coordinate system, and the blade coordinate system is converted to the blade root coordinate system, and the direction cosine matrix of the coordinate conversion between each coordinate system is obtained respectively;

[0216] The coordinate systems of the components include: tower coordinate system, nacelle yaw coordinate system, hub coordinate system, blade root coordinate system and blade coordinate system;

[0217] The blade root coordinate system includes a first blade root coordinate system, a second blade root coordinate system and a third blade root coordinate system.

[0218] Optionally, the direction cosine matrices for coordinate transformation between the coordinate systems include: the direction cosine matrix for transforming the tower coordinate system to the global coordinate system, the direction cosine matrix for transforming the nacelle yaw coordinate system to the tower coordinate system, the direction cosine matrix for transforming the hub coordinate system to the nacelle yaw coordinate system, the direction cosine matrix for transforming the root coordinate systems of the first, second and third blades to the hub coordinate system, and the direction cosine matrix for transforming the blade coordinate system to the root coordinate system.

[0219] Optionally, the direction cosine matrix for converting the tower coordinate system to the global coordinate system is as follows:

[0220]

[0221] In the formula, The direction cosine matrix is ​​used to transform the tower coordinate system into the global coordinate system.

[0222] Optionally, the direction cosine matrix of the nacelle yaw coordinate system converted to the tower coordinate system is as follows:

[0223]

[0224] In the formula, To transform the nacelle yaw coordinate system into the tower coordinate system, the direction cosine matrix is: For the global coordinate system ICS x , y Around z Axis rotation nacelle yaw angle.

[0225] Optionally, the direction cosine matrix of the hub coordinate system converted to the nacelle yaw coordinate system is as follows:

[0226] (3)

[0227] In the formula, The direction cosine matrix for converting the nacelle yaw coordinate system to the tower coordinate system; is the yaw coordinate system of the cabin x n , z n Around y n Axis rotation spindle inclination.

[0228] Optionally, the direction cosine matrix of the first blade root coordinate system converted to the hub coordinate system is as follows:

[0229]

[0230] In the formula, The direction cosine matrix for transforming the root coordinate system of the first blade into the hub coordinate system; The hub coordinate system is y h The shaft rotates the blade cone angle; is the pitch angle.

[0231] Optionally, the direction cosine matrix of the second and third blade root coordinate systems converted to the hub coordinate system is as follows:

[0232] (5)

[0233]

[0234] In the formula, , The direction cosine matrices for converting the root coordinate system of the second and third blades to the hub coordinate system are and .

[0235] Optionally, the direction cosine matrix of the blade coordinate system converted to the blade root coordinate system is as follows:

[0236]

[0237] In the formula, The direction cosine matrix for transforming the blade coordinate system to the blade root coordinate system; The included angle in the z direction from the blade coordinate system to the blade root coordinate system; The angle in the y direction from the blade coordinate system to the blade root coordinate system; is the angle in the x direction from the blade coordinate system to the blade root coordinate system.

[0238] Optionally, the constraint setting module is specifically used to:

[0239] Based on the consolidation between the tower and the ground, the yaw flange is fixed to the tower, the nacelle is fixed to the yaw flange, there is rotational freedom between the low-speed shaft and the nacelle, the hub is fixed to the low-speed shaft, the pitch flange is fixed to the hub, there is rotational freedom between the blade and the pitch flange, and in the constraint relationship of the wind turbine components, fixed constraints and rotation hinge constraints are set;

[0240] The wind turbine components include: a tower, a yaw flange, a nacelle, a low-speed shaft, a hub, a pitch flange and blades.

[0241] Optionally, the rotary joint constraint includes: a velocity constraint equation and an acceleration constraint equation for relative rotation constraints between the nacelle and the hub in two directions.

[0242] Optionally, the velocity constraint equation for the relative rotation constraint between the nacelle and the hub in two directions is as follows:

[0243]

[0244] In the formula, is the speed constraint for the relative rotation between the nacelle and the hub, is the vector d h1 With vector d h The speed constraint relationship is is the vector d h2 With vector d h The speed constraint relationship is For vector d n The velocity vector, is the vector d h1 The velocity vector, is d h2 The velocity vector.

[0245] Optionally, the acceleration constraint equation is as follows:

[0246]

[0247] In the formula, R n For vector d n The Euler quaternion, R hFor vector d h The Euler quaternion of For vector d h The derivative of the Euler quaternion is, For vector d n The derivative of the Euler quaternion is, For vector d n The acceleration of For vector d h The acceleration of is d h2 The transpose of is the vector d h1 The transpose of .

[0248] Step 4: Construct a kinematic model based on the global coordinate system of the wind turbine and the coordinate systems of each component, combined with the dynamic characteristic transfer mechanism and the coupling constraints between components.

[0249] Example 3

[0250] like Figure 5 As shown, the present invention also provides an electronic device, which may be a computer device, a single-chip device, an intelligent mobile device, etc. The electronic device in this embodiment may include a processor, a memory, a transceiver component, etc. The memory, the processor, and the transceiver component are connected via a bus; the memory may be used to store an execution program, and an exemplary execution program may include instructions; the processor is used to execute the instructions stored in the memory. The memory may also be used to store data, which may be called and / or modified when the instructions are executed.

[0251] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in a storage medium to implement corresponding method flows or corresponding functions, so as to implement the steps of a whole-machine kinematic modeling method in a wind turbine simulation in the above-mentioned embodiment.

[0252] Example 4

[0253] Based on the same inventive concept, the present invention also provides a readable storage medium, specifically an electronic device readable storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It can be understood that the storage medium here can include both built-in storage media in electronic devices and extended storage media supported by electronic devices. The storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by a processor are also stored in the storage space, and these instructions can be one or more execution programs (including program codes). It should be noted that the storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor loads and executes one or more instructions stored in the storage medium, which can implement the steps of the whole machine kinematic modeling method in a wind turbine simulation in the above embodiment.

[0254] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0255] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0256] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0257] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0258] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A whole machine kinematic modeling method in wind turbine simulation, characterized in that: include: Based on the composition characteristics of each component of the wind turbine, the global coordinate system of the wind turbine and the coordinate system of each component are established; The direction cosine matrix of coordinate transformation between the global coordinate system of the wind turbine and the coordinate systems of each component reflects the dynamic characteristic transmission mechanism; According to the connection relationship between the components in the wind turbine, set the coupling constraints between the components; A kinematic model is constructed by combining the global coordinate system of the wind turbine set and the coordinate systems of each component with a dynamic characteristic transmission mechanism and coupling constraints between components; The direction cosine matrix of the coordinate conversion between the global coordinate system of the wind turbine and the coordinate systems of each component reflects the dynamic characteristic transmission mechanism, including: The tower coordinate system is converted to the global coordinate system, the nacelle yaw coordinate system is converted to the tower coordinate system, the hub coordinate system is converted to the nacelle yaw coordinate system, the blade root coordinate system is converted to the hub coordinate system, and the blade coordinate system is converted to the blade root coordinate system, and the direction cosine matrix of the coordinate conversion between each coordinate system is obtained respectively; The coordinate systems of the components include: tower coordinate system, nacelle yaw coordinate system, hub coordinate system, blade root coordinate system and blade coordinate system; The blade root coordinate system includes a first blade root coordinate system, a second blade root coordinate system and a third blade root coordinate system; The step of setting coupling constraints between components according to the connection relationship between the components in the wind turbine generator set includes: Based on the consolidation between the tower and the ground, the yaw flange is fixed to the tower, the nacelle is fixed to the yaw flange, there is rotational freedom between the low-speed shaft and the nacelle, the hub is fixed to the low-speed shaft, the pitch flange is fixed to the hub, there is rotational freedom between the blade and the pitch flange, and in the constraint relationship of the wind turbine components, fixed constraints and rotation hinge constraints are set; The wind turbine components include: a tower, a yaw flange, a nacelle, a low-speed shaft, a hub, a pitch flange and blades; The coupling constraint includes a fixed constraint and a rotation hinge constraint; The rotary joint constraint includes: a velocity constraint equation and an acceleration constraint equation for the relative rotation constraint between the nacelle and the hub in two directions.

2. The method according to claim 1, characterized in that The method of establishing a global coordinate system of the wind turbine generator set and coordinate systems of each component based on the composition characteristics of each component of the wind turbine generator set includes: Taking the center of the tower bottom as the coordinate origin, along the front and rear direction of the unit x Direction, along the left and right direction of the unit y Direction, along the height direction of the unit z Direction, establish the global coordinate system of the wind turbine xyz ; The individuals in the wind turbine that are prone to elastic deformation are constructed as a flexible component coordinate system; The individuals in the wind turbine that are not prone to elastic deformation are constructed as a rigid component coordinate system.

3. The method according to claim 2, characterized in that The step of constructing the individuals in the wind turbine generator set that are not prone to elastic deformation into a rigid component coordinate system includes: Taking the center of any section of the tower as the coordinate origin, along the front and rear direction of the unit x tj Direction, along the left and right direction of the unit y tj Direction, along the height direction of the unit z tj Direction, establish the tower coordinate system x tj y tj z tj ; Taking the yaw bearing center as the coordinate origin, the global coordinate system ICS x , y Around z Yaw angle of nacelle axis rotation θ yaw As the initial state of the unit x n , y n , along the unit height direction z n , establish the cabin yaw coordinate system x n y n z n .

4. The method according to claim 2, characterized in that The individual parts in the wind turbine generator set that are prone to elastic deformation are constructed as a flexible component coordinate system, including: The origin of the coordinate system is the wheel hub mass center, and the yaw coordinate system of the nacelle is x n , z n Around y n Axis rotation spindle inclination θ tilt get x h , z h Constructing the hub coordinate system x h y h z h ; The blade root pitch center is taken as the origin of the coordinate system, and the hub coordinate system is centered around x h Phase angle of the rotating blade for x Br , around y h The shaft rotates the blade cone angle θ cone y Br , initial installation angle around the axis θ set for z Br Constructing the leaf-root coordinate system x Br y Br z Br ; Taking the elastic center of any section of the blade as the coordinate origin, the blade root coordinate system x Br , y Br , z Br Rotate the set angles according to the direction of the elastic axis and obtain x Bi , y Bi , z Bi , construct the blade coordinate system x Bi y Bi z Bi .

5. The method according to claim 1, characterized in that The direction cosine matrices for coordinate conversion between the coordinate systems include: the direction cosine matrix for converting the tower coordinate system to the global coordinate system, the direction cosine matrix for converting the nacelle yaw coordinate system to the tower coordinate system, the direction cosine matrix for converting the hub coordinate system to the nacelle yaw coordinate system, the direction cosine matrix for converting the root coordinate systems of the first, second and third blades to the hub coordinate system, and the direction cosine matrix for converting the blade coordinate system to the root coordinate system.

6. The method according to claim 5, characterized in that The direction cosine matrix of the tower coordinate system converted to the global coordinate system is as follows: In the formula, The direction cosine matrix is ​​used to transform the tower coordinate system into the global coordinate system.

7. The method according to claim 5, characterized in that The direction cosine matrix of the nacelle yaw coordinate system converted to the tower coordinate system is as follows: In the formula, The direction cosine matrix for converting the nacelle yaw coordinate system to the tower coordinate system; For the global coordinate system ICS x , y Around z Axis rotation nacelle yaw angle.

8. The method according to claim 5, characterized in that The direction cosine matrix of the hub coordinate system converted to the nacelle yaw coordinate system is as follows: In the formula, The direction cosine matrix for converting the nacelle yaw coordinate system to the tower coordinate system; is the yaw coordinate system of the cabin x n , z n Around y n Axis rotation spindle inclination.

9. The method according to claim 5, characterized in that The direction cosine matrix of the first blade root coordinate system transformed to the hub coordinate system is as follows: In the formula, The direction cosine matrix for transforming the root coordinate system of the first blade to the hub coordinate system; The hub coordinate system is y h The shaft rotates the blade cone angle; is the pitch angle.

10. The method according to claim 9, characterized in that The direction cosine matrix of the second and third blade root coordinate systems converted to the hub coordinate system is as follows: In the formula, , These are the direction cosine matrices for converting the root coordinate system of the second and third blades to the hub coordinate system.

11. The method according to claim 5, characterized in that The direction cosine matrix of the blade coordinate system converted to the blade root coordinate system is as follows: In the formula, The direction cosine matrix for transforming the blade coordinate system to the blade root coordinate system; The included angle in the z direction from the blade coordinate system to the blade root coordinate system; The angle in the y direction from the blade coordinate system to the blade root coordinate system; is the angle in the x direction from the blade coordinate system to the blade root coordinate system.

12. The method according to claim 1, characterized in that The velocity constraint equation for the relative rotation constraint between the nacelle and the hub in two directions is as follows: In the formula, is the speed constraint for the relative rotation between the nacelle and the hub, is the vector d h1 With vector d h The speed constraint relationship is is the vector d h2 With vector d h The speed constraint relationship is For vector d n The velocity vector, is the vector d h1 The velocity vector, is d h2 The velocity vector.

13. The method according to claim 12, characterized in that The acceleration constraint equation is as follows: In the formula, R n For vector d n The Euler quaternion, R h For vector d h The Euler quaternion of For vector d h The derivative of the Euler quaternion is, For vector d n The derivative of the Euler quaternion is, For vector d n The acceleration of For vector d h The acceleration of is d h2 The transpose of is the vector d h1 The transpose of .

14. A whole machine kinematic modeling system in wind turbine simulation, characterized in that: include: A coordinate system building module is used to establish the global coordinate system of the wind turbine and the coordinate systems of each component based on the composition characteristics of each component of the wind turbine; Coordinate transformation module, used to reflect the dynamic characteristic transmission mechanism by the direction cosine matrix of coordinate transformation between the global coordinate system of the wind turbine and the coordinate systems of each component; A constraint setting module, used to set coupling constraints between components according to the connection relationship between the components in the wind turbine generator set; A model building module, used to build a kinematic model based on the global coordinate system of the wind turbine set, the coordinate systems of each component, combined with a dynamic characteristic transmission mechanism and coupling constraints between components; Wherein, the coupling constraint includes a fixed constraint and a rotation hinge constraint; The coordinate system building module includes: The global coordinate construction submodule is used to take the center of the tower bottom as the coordinate origin and x Direction, along the left and right direction of the unit y Direction, along the height direction of the unit z Direction, establish the global coordinate system of the wind turbine xyz ; A flexible component coordinate construction submodule is used to construct the individuals in the wind turbine that are prone to elastic deformation into a flexible component coordinate system; A rigid component coordinate construction submodule is used to construct the individuals in the wind turbine that are not prone to elastic deformation into a rigid component coordinate system; The constraint setting module is specifically used for: Based on the consolidation between the tower and the ground, the yaw flange is fixed to the tower, the nacelle is fixed to the yaw flange, there is rotational freedom between the low-speed shaft and the nacelle, the hub is fixed to the low-speed shaft, the pitch flange is fixed to the hub, there is rotational freedom between the blade and the pitch flange, and in the constraint relationship of the wind turbine components, fixed constraints and rotation hinge constraints are set; The wind turbine components include: a tower, a yaw flange, a nacelle, a low-speed shaft, a hub, a pitch flange and blades; The rotary joint constraint includes: a velocity constraint equation and an acceleration constraint equation for the relative rotation constraint between the nacelle and the hub in two directions.

15. The system of claim 14, wherein: The flexible component coordinate construction submodule is specifically used for: The origin of the coordinate system is the wheel hub mass center, and the yaw coordinate system of the nacelle is x n , z n Around y n Axis rotation spindle inclination θ tilt get x h , z h Constructing the hub coordinate system x h y h z h ; The blade root pitch center is taken as the origin of the coordinate system, and the hub coordinate system is centered around x h Phase angle of the rotating blade for x Br , around y h The shaft rotates the blade cone angle θ cone y Br , initial installation angle around the axis θ set for z Br Constructing the leaf-root coordinate system x Br y Br z Br ; Taking the elastic center of any section of the blade as the coordinate origin, the blade root coordinate system x Br , y Br , z Br Rotate the set angles according to the direction of the elastic axis and obtain x Bi , y Bi , z Bi , construct the blade coordinate system x Bi y Bi z Bi .

16. An electronic device, characterized in that: include: at least one processor and memory; The memory and the processor are connected via a bus; The memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, a whole machine kinematic modeling method in wind turbine simulation according to any one of claims 1 to 13 is implemented.

17. A readable storage medium, characterized in that: An execution program is stored thereon, and when the execution program is executed, a whole machine kinematic modeling method in a wind turbine simulation as described in any one of claims 1 to 13 is implemented.

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