Wind turbine generator primary frequency modulation joint simulation modeling method capable of improving simulation efficiency

Abstract

The invention discloses a wind turbine generator primary frequency modulation joint simulation modeling method capable of improving simulation efficiency, and the method comprises the steps: carrying out the modeling of a mechanical part of a wind turbine generator in Bladed, carrying out the building of an electrical model and a control model in Matlab, simplifying the electrical model in the Matlab, only retaining a rotating speed power curve, and carrying out the modeling of the mechanical part of the wind turbine generator in Matlab. A corresponding virtual inertia and droop control part is used, and the simplified mathematical model is used to participate in joint simulation; the GH Bladed adopts a DLL (Dynamic Link Library) external interface technology, and the Matlab adopts a Matlab Engine; the inter-process communication mode adopts socket communication based on UDP (User Datagram Protocol). According to the wind turbine generator primary frequency modulation joint simulation modeling method capable of improving the simulation efficiency, the interaction effect of all components in the system is comprehensively considered, the joint simulation speed is increased, the calculation complexity is reduced, and the joint simulation efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of wind power generation oriented to renewable energy, and in particular relates to a joint simulation modeling method for primary frequency regulation of wind turbines for improving simulation efficiency. Background Art

[0002] Energy plays a vital role in human survival and social development, but the traditional electricity production method based on fossil fuels faces severe challenges. In recent years, new energy sources, mainly wind and solar energy, have been developed and utilized on a large scale, and a high proportion of new energy sources have been further connected to the power grid, and the penetration rate of wind power in the system has continued to increase.

[0003] As the installed capacity and scale of wind turbines become larger, the load of control system design and simulation experiments required in the early stages of wind turbine product development is also increasing. At the same time, wind turbines will face problems such as primary frequency modulation, low voltage ride-through, and synchronous oscillation during grid-connected operation, highlighting the need for control strategies in wind turbine design and operation, which also means that the requirements for simulation are getting higher and higher.

[0004] A wind turbine is a complex system. To ensure the optimization and reliable operation of the entire system, it is necessary to understand and manage the interaction of these different components. GH Bladed provides comprehensive tools and functions for the design, analysis and optimization of wind turbines, focusing more on the operating environment of the wind turbine and the mechanical part of the unit. Matlab / simulink can be used to build a linearized electrical model of a wind turbine. However, to consider both the mechanical model and the electrical model of the wind turbine at the same time, a single simulation software cannot be used and must rely on joint simulation to solve the problem.

[0005] At present, the joint simulation of wind turbines is mainly based on Matlab and GH Bladed software. The mechanical model of the wind turbine is established in Bladed, and the electrical model of the wind turbine is established in Matlab to build a joint simulation platform for wind turbines. Considering the problem that the detailed electrical model in Matlab will lead to a long simulation time under the condition of wind turbines participating in primary frequency modulation, a simplified mathematical model is chosen here to replace it. In addition, the interaction between software adopts Socket communication based on UDP, which greatly improves the simulation speed and efficiency. Summary of the invention

[0006] The present invention discloses a modeling method for improving the speed of joint simulation of primary frequency regulation of wind turbines. Under the working condition that the wind turbines participate in primary frequency regulation, the mechanical model and the electrical model of the wind turbines can be taken into account at the same time, and the interaction of each component in the system can be comprehensively considered. At the same time, for the problems of low simulation efficiency and slow simulation speed, a simplified mathematical model is selected in Matlab to replace the electrical model. The data interaction between the simplified mathematical model and the mechanical model adopts socket communication based on UDP, which can accurately characterize the rapidity characteristics of the joint simulation of wind turbines under the joint simulation model built by Matalb and Bladed.

[0007] The present invention proposes a modeling method for improving the speed of joint simulation of primary frequency regulation of wind turbines, and the method is as follows:

[0008] (1) Modeling of the mechanical part of the wind turbine in GH Bladed;

[0009] (2) Model and simplify the electrical part of the wind turbine in Matlab to obtain a mathematical model;

[0010] (3) Define GH Bladed external controller;

[0011] (4) Establish software simulation interaction interface;

[0012] (5)Data interaction.

[0013] The modeling process of the mechanical part of the wind turbine includes establishing a wind model, a wind rotor model, a tower model, a nacelle model, a transmission chain model and a control model in GH Bladed.

[0014] The torque control method of the control system model is selected to adopt the external controller method.

[0015] The step (2) comprises:

[0016] Ignore converter models, electromagnetic transient models, and power electronic switches;

[0017] Furthermore, only the speed power curve and the corresponding virtual inertia and droop control parts are retained.

[0018] The step (4) uses the external controller as a DLL (dynamic link library);

[0019] Furthermore, a DLL program is written in C++ language, in which the fan control logic is implemented and the interface functions for interacting with GHBladed are defined;

[0020] Further, the DLL program is compiled using a C++ compiler to generate a DLL file;

[0021] Furthermore, make sure the compilation settings are compatible with GH Bladed;

[0022] Next, open the GH Bladed software and create a new wind turbine model or open an existing model. Find the external controller configuration option in the model settings. Select the "Use external controller" option and specify the path to the DLL file generated by the previous compilation, and then configure the parameters of the external controller as needed.

[0023] The step (5) comprises:

[0024] (5.1) The program runs on the sending and receiving ends, first opening the network library, then verifying the version;

[0025] (5.2) Create a socket object;

[0026] (5.3) Determine the IP address and port number of the host to communicate;

[0027] (5.4) Bind the socket to the IP address and port;

[0028] (5.5) Send data to the specified port;

[0029] (5.6) Receive data and obtain the sender's address and port.

[0030] The step (6) sets the same simulation step size in the two softwares;

[0031] Furthermore, the simulation time and generator speed data in GH Bladed are obtained in the form of an external controller DLL;

[0032] Furthermore, the simulation interface calls Matlab Engine, receives simulation time and generator speed data and transmits the data to Matlab;

[0033] Furthermore, Matlab calls back the generator torque obtained by simulation to the external controller DLL through the simulation interface to control the simulation model in GH Bladed.

[0034] Under the same simulation step size, the purpose of joint simulation of GH Bladed and Matlab is achieved through the repetition of the above steps.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The interaction of various components in the wind turbine system was comprehensively considered, and a joint simulation model of the wind turbine was established. The mathematical model was obtained by simplifying the electrical model of the wind turbine. At the same time, UDP-based socket communication was established between the two software, which improved the joint simulation speed and efficiency of the primary frequency regulation of the wind turbine. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of a simplified joint simulation model structure provided in this application.

[0038] Figure 2 A joint simulation control block diagram provided for this application.

[0039] Figure 3 A joint simulation interaction flow chart provided for this application. DETAILED DESCRIPTION

[0040] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and examples.

[0041] It should be noted that the drawings are in a very simplified form and are not in precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In order to make the purposes, features and advantages of the present invention more obvious and easy to understand, please refer to the drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no technical substantive significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0042] Example

[0043] like Figure 1 As shown, a schematic diagram of a simplified joint simulation model structure is provided, including:

[0044] The wind model, wind rotor model, tower model, nacelle model, transmission chain model, control model, etc. built in Bladed; The mathematical model and control model built in Matlab are simplified from the electrical model of the wind turbine. Under the working condition of the wind turbine participating in frequency regulation, considering that the joint simulation of Matlab and Bladed wind turbine focuses on electromechanical integration, only the speed power curve and the virtual inertia and droop control parts are retained;

[0045] like Figure 2 As shown, a joint simulation control block diagram is provided:

[0046] The primary frequency regulation control of DFIG units adds virtual inertia and droop links based on MPPT control;

[0047] When the system frequency changes, the power output of the wind turbine is

[0048] P DFIG =P MPPT -ΔP1-ΔP2

[0049] In the formula,

[0050] The electromagnetic torque of the generator is

[0051]

[0052] where ω r is input by GH Bladed through the interface, and the electromagnetic torque T is calculated at the same time e The data is output to GH Bladed through the interface to achieve the purpose of joint simulation.

[0053] like Figure 3 As shown in the figure, a joint simulation interaction flow chart is provided:

[0054] The simulation models were built in GH Bladed and Matlab respectively, and the same simulation step size was set in both softwares;

[0055] Get the simulation time and generator speed data in GH Bladed through the external controller DLL;

[0056] The simulation interface calls Matlab Engine, receives simulation time and generator speed data and transmits the data to Matlab;

[0057] Matlab calls back the generator torque obtained by simulation to the external controller DLL through the simulation interface to control the simulation model in GHBladed;

[0058] Under the same simulation step size, the purpose of joint simulation of GH Bladed and Matlab is achieved through the repetition of the above steps.

[0059] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A wind turbine primary frequency regulation joint simulation modeling method for improving simulation efficiency, the method comprising: The mechanical part of the wind turbine is modeled in Bladed, and the electrical model and control model are built in Matlab. The electrical model is simplified in Matlab, and only the speed power curve and the corresponding control part are retained. The simplified mathematical model is used for joint simulation. GH Bladed adopts DLL external interface technology, and Matlab adopts Matlab Engine. The inter-process communication method adopts UDP-based socket communication, which comprehensively considers the interaction of each component in the system and improves the speed and efficiency of joint simulation.

2. A wind turbine primary frequency modulation joint simulation modeling method for improving simulation efficiency according to claim 1, characterized in that: The mechanical modeling of the wind turbine set in the Bladed includes a wind model, a wind rotor model, a tower model, a nacelle model, a transmission chain model and a control model. The torque control method of the control system model adopts an external controller method.

3. A wind turbine primary frequency modulation joint simulation modeling method for improving simulation efficiency according to claim 1, characterized in that: The electrical model is simplified in Matlab, including ignoring models such as converters, not considering electromagnetic transient models, power electronic switches, etc.

4. A wind turbine primary frequency modulation joint simulation modeling method for improving simulation efficiency according to claim 1, characterized in that: The joint simulation focuses on electromechanical integration, and the simplified model retains the speed power curve, as well as the corresponding virtual inertia, droop and other control parts.

5. A wind turbine primary frequency modulation joint simulation modeling method for improving simulation efficiency according to claim 1, characterized in that: The GH Bladed uses DLL external interface technology to define an external controller and operates in discrete time steps.

6. A wind turbine primary frequency modulation joint simulation modeling method for improving simulation efficiency according to claim 1, characterized in that: The Matlab Engine completes the calling and controlling of Matlab in the programmed program environment through the interface function. Through the engine mode, the application program independently uses a Matlab process, thereby realizing the calling of all functions in Matlab.

7. A wind turbine primary frequency modulation joint simulation modeling method for improving simulation efficiency according to claim 1, characterized in that: The data interaction process between Matlab and Bladed is that the mechanical model established in Bladed transmits the rotation speed and simulation time to the simplified model in Matlab, starts the simulation after receiving the data, and transmits the torque obtained by simulation to the mechanical model to continue the simulation.

8. A wind turbine primary frequency modulation joint simulation modeling method for improving simulation efficiency according to claim 1, characterized in that: The joint simulation data interaction adopts a socket communication method based on UDP. UDP is connectionless and has no complex state management. The simplicity of the UDP protocol makes programming more direct in some cases.

9. A wind turbine primary frequency modulation joint simulation modeling method for improving simulation efficiency according to claim 1, characterized in that: The program runs on the sending end and the receiving end to first open the network library, then check the version, create a Socket, and bind it to the corresponding address and port; after completion, the sending end and the receiving end can start to transfer data to each other.

10. A wind turbine primary frequency regulation joint simulation modeling method for improving simulation efficiency according to claim 8, characterized in that: After obtaining the interactive data, the process first sends the data from the sending end, the receiving end receives the data, and sends the data to be returned back to the sending end; the sending end receives the data sent by the receiving end, and the data interaction process ends at this point, and enters the next data interaction stage, and this cycle continues until the simulation ends.

Images