Complete machine simulation method and device for wind turbine generator

Abstract

The invention relates to the technical field of wind turbine generator simulation, and particularly provides a wind turbine generator complete machine simulation method and device, and the method comprises the steps: integrating a characteristic matrix of each unit in a finite element model of a wind turbine generator into a complete machine motion balance equation of the wind turbine generator based on the node number of each unit in the finite element model of the wind turbine generator; converting the complete machine motion balance equation of the wind turbine generator to obtain a complete machine motion balance equation without constraints; integral solving is conducted on the complete machine motion balance equation with the constraint eliminated, and a complete machine simulation result of the wind turbine generator is obtained; wherein the characteristic matrix comprises a mass matrix, a damping matrix and a stiffness matrix, and the simulation result comprises node velocity vectors of all units in a finite element model of the wind turbine generator. The technical scheme provided by the invention can be used for guiding the whole unit, simulation design and tool development, and has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine simulation, and in particular to a method and device for simulating a complete wind turbine. Background Art

[0002] At present, wind power development is developing towards complex terrain and deep sea. High efficiency, high reliability and lightweight have become the development trend of units. The capacity of a single unit has developed to more than 10MW, and the scale of the unit has entered the super-large stage. The simulation design and load analysis of the whole wind turbine unit are the primary links in the development of the unit. However, with the continuous increase in the capacity of wind turbines, the modeling refinement requirements of the structural components of the whole wind turbine unit are getting higher and higher. The huge amount of data storage will greatly increase the scale of calculation, which significantly reduces the efficiency of simulation calculation. Therefore, how to improve the simulation calculation efficiency of the whole wind turbine unit is the primary problem facing the whole wind turbine unit simulation.

[0003] In the prior art, the invention patent application: An integrated simulation and analysis method and platform device for a fixed offshore wind turbine, application number 202211640753.X, application date 2022.12.20, discloses an integrated simulation and analysis method and platform device for a fixed offshore wind turbine. This scheme establishes an integrated simulation model according to the aerodynamic, structural and hydrodynamic parameters of the wind turbine, and simulates in the wind turbine dynamics simulation software based on the defined simulation condition matrix and the integrated simulation model, and performs design verification on the obtained simulation results of the wind turbine cabin assembly, tower and foundation, and determines whether the strength requirements are met according to the verification results. If not, update at least one of the tower and foundation structure parameters and control strategies, and perform simulation iterative optimization until the verification results that meet the strength requirements are obtained, and then output the optimal design parameters of the tower and foundation suitable for the target site.

[0004] Invention patent application: Wind turbine dynamics simulation method, system, electronic device and storage medium, application number: 202311192111.2, application date: 2023.09.15, discloses a wind turbine dynamics simulation method, system, electronic device and storage medium, involving the field of wind turbine dynamics simulation, the method includes: obtaining wind turbine information, wind condition information and unit operation setting information; using wind turbine information to establish a wind turbine model; using wind condition information and unit operation setting information to generate multiple groups of working condition information, and using multiple groups of working condition information to perform dynamic simulation on the wind turbine model; performing simulation result analysis on the dynamic simulation results of the wind turbine model, and visually outputting the analysis results; it can realize the automatic establishment of the wind turbine model, the automatic generation of working condition information and the automatic execution of a large number of dynamic simulations, and can perform simulation result analysis on the dynamic simulation results of the wind turbine model, and visually output the analysis results, which can facilitate relevant personnel to view the simulation effect, thereby improving the efficiency and effect of wind turbine dynamics simulation.

[0005] However, the above method is not sophisticated enough in building the whole model of the wind turbine and requires huge computing power, which cannot meet the current needs of efficient simulation. Summary of the invention

[0006] In order to overcome the above-mentioned defects, the present invention proposes a wind turbine complete machine simulation method and device.

[0007] In a first aspect, a wind turbine generator set whole machine simulation method is provided, the wind turbine generator set whole machine simulation method comprising:

[0008] Based on the node numbers of each unit in the finite element model of the wind turbine, the characteristic matrix of each unit in the finite element model of the wind turbine is integrated into the overall motion balance equation of the wind turbine;

[0009] Transforming the whole machine motion balance equation of the wind turbine generator set to obtain the whole machine motion balance equation with no constraints;

[0010] Integrating and solving the constraint-eliminated whole machine motion balance equation to obtain a whole machine simulation result of the wind turbine generator set;

[0011] The characteristic matrix includes: a mass matrix, a damping matrix and a stiffness matrix, and the simulation result includes: a node velocity vector of each unit in the finite element model of the wind turbine generator set.

[0012] Preferably, the whole machine motion balance equation is as follows:

[0013]

[0014] In the above formula, M rr 、M rε、M εε They are the mass matrix related to the whole wind turbine motion, the coupled mass matrix related to motion and deformation, and the mass matrix related to deformation. r is the constraint matrix related to node velocity, D ε is the constraint matrix related to the generalized strain rate of the node, is the node velocity vector of each unit in the finite element model of the wind turbine, is a generalized or custom strain vector, λ is the vector of Lagrange multipliers corresponding to the constraints, C εε is the generalized strain rate-dependent structural damping matrix, is the generalized strain rate, K εε is the structural stiffness matrix related to generalized strain, ε is the generalized strain, f a is the node load vector, f i is the inertial force caused by the node velocity, σ a is the generalized stress vector caused by the generalized strain rate, σ 0 is the generalized constrained stress vector corresponding to the specified strain at the node, σ i is the inertia force caused by the generalized strain rate of the node, a 2 is the conversion matrix when transforming acceleration, and T is the transpose sign.

[0015] Preferably, when the component of the wind turbine is a flexible component, a linear space beam unit is used to model the flexible component, and the space beam unit is used as a unit in the finite element model of the wind turbine.

[0016] Preferably, when the component of the wind turbine generator set is a rigid component, the rigid component is used as a unit in the finite element model of the wind turbine generator set.

[0017] Preferably, the step of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set comprises:

[0018] When the number of node numbers of the unit is 2, let the node numbers of the unit be i and j respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0019] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0020] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0021] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0022] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0023] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0024] Preferably, the step of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set comprises:

[0025] When the number of node numbers of the unit is 3, let the node numbers of the unit be i, j and k respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0026] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0027] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0028] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k]

[0029] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0030] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0031] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k]

[0032] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i]

[0033] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j]

[0034] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k]

[0035] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0036] Preferably, the step of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set comprises:

[0037] When the number of node numbers of the unit is 4, let the node numbers of the unit be i, j, k and m respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0038] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0039] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0040] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k]

[0041] [(X*(i-1)+1):X*i,(X*(m-1)+1):X*m]

[0042] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0043] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0044] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k]

[0045] [(X*(j-1)+1):X*j,(X*(m-1)+1):X*m]

[0046] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i]

[0047] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j]

[0048] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k]

[0049] [(X*(k-1)+1):X*k,(X*(m-1)+1):X*m]

[0050] [(X*(m-1)+1):X*m,(X*(i-1)+1):X*i]

[0051] [(X*(m-1)+1):X*m,(X*(j-1)+1):X*j]

[0052] [(X*(m-1)+1):X*m,(X*(k-1)+1):X*k]

[0053] [(X*(m-1)+1):X*m,(X*(m-1)+1):X*m]

[0054] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0055] Furthermore, in the process of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the overall motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set, when multiple elements are integrated at the same position of the characteristic matrix in the overall motion balance equation, the sum of the multiple elements is used as the element value of the same position in the characteristic matrix in the overall motion balance equation.

[0056] Furthermore, the motion balance equation of the whole machine after eliminating the constraint is as follows:

[0057]

[0058] C=C εε

[0059] K=K εε

[0060]

[0061] In the above formula, M is the first conversion matrix, C is the second conversion matrix, K is the third conversion matrix, σ is the fourth conversion matrix, and D εr is the fifth transformation matrix, g 2 is the sixth transformation matrix.

[0062] Preferably, in the process of integrating and solving the whole machine motion balance equation with the constraints eliminated, the Newmark-β method, the Runge-Kutta method, the Wilson-θ method or the 4th-order Runge-Kutta method is used.

[0063] In a second aspect, a wind turbine generator set whole machine simulation device is provided, the wind turbine generator set whole machine simulation device comprising:

[0064] An integration module, used for integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set;

[0065] A conversion module, used for converting the whole machine motion balance equation of the wind turbine generator set to obtain the whole machine motion balance equation with constraints eliminated;

[0066] A solution module, used for integrally solving the whole machine motion balance equation with the constraint eliminated to obtain the whole machine simulation result of the wind turbine;

[0067] The characteristic matrix includes: a mass matrix, a damping matrix and a stiffness matrix, and the simulation result includes: a node velocity vector of each unit in the finite element model of the wind turbine generator set.

[0068] Preferably, the whole machine motion balance equation is as follows:

[0069]

[0070] In the above formula, M rr 、M rε 、M εε They are the mass matrix related to the whole wind turbine motion, the coupled mass matrix related to motion and deformation, and the mass matrix related to deformation. r is the constraint matrix related to node velocity, D ε is the constraint matrix related to the generalized strain rate of the node, is the node velocity vector of each unit in the finite element model of the wind turbine, is a generalized or custom strain vector, λ is the vector of Lagrange multipliers corresponding to the constraints, C εε is the generalized strain rate-dependent structural damping matrix, is the generalized strain rate, K εε is the structural stiffness matrix related to generalized strain, ε is the generalized strain, f a is the node load vector, f i is the inertial force caused by the node velocity, σ a is the generalized stress vector caused by the generalized strain rate, σ 0 is the generalized constrained stress vector corresponding to the specified strain at the node, σ i is the inertia force caused by the generalized strain rate of the node, a 2 is the conversion matrix when transforming acceleration, and T is the transpose sign.

[0071] Preferably, when the component of the wind turbine is a flexible component, a linear space beam unit is used to model the flexible component, and the space beam unit is used as a unit in the finite element model of the wind turbine.

[0072] Preferably, when the component of the wind turbine generator set is a rigid component, the rigid component is used as a unit in the finite element model of the wind turbine generator set.

[0073] Preferably, the integration module is specifically used for:

[0074] When the number of node numbers of the unit is 2, let the node numbers of the unit be i and j respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0075] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0076] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0077] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0078] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0079] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0080] Preferably, the integration module is specifically used for:

[0081] When the number of node numbers of the unit is 3, let the node numbers of the unit be i, j and k respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0082] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0083] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0084] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k]

[0085] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0086] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0087] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k]

[0088] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i]

[0089] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j]

[0090] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k]

[0091] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0092] Preferably, the integration module is specifically used for:

[0093] When the number of node numbers of the unit is 4, let the node numbers of the unit be i, j, k and m respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0094] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0095] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0096] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k]

[0097] [(X*(i-1)+1):X*i,(X*(m-1)+1):X*m]

[0098] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0099] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0100] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k]

[0101] [(X*(j-1)+1):X*j,(X*(m-1)+1):X*m]

[0102] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i]

[0103] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j]

[0104] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k]

[0105] [(X*(k-1)+1):X*k,(X*(m-1)+1):X*m]

[0106] [(X*(m-1)+1):X*m,(X*(i-1)+1):X*i]

[0107] [(X*(m-1)+1):X*m,(X*(j-1)+1):X*j]

[0108] [(X*(m-1)+1):X*m,(X*(k-1)+1):X*k]

[0109] [(X*(m-1)+1):X*m,(X*(m-1)+1):X*m]

[0110] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0111] Furthermore, in the process of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the overall motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set, when multiple elements are integrated at the same position of the characteristic matrix in the overall motion balance equation, the sum of the multiple elements is used as the element value of the same position in the characteristic matrix in the overall motion balance equation.

[0112] Furthermore, the motion balance equation of the whole machine after eliminating the constraint is as follows:

[0113]

[0114] C=C εε

[0115] K=K εε

[0116]

[0117] In the above formula, M is the first conversion matrix, C is the second conversion matrix, K is the third conversion matrix, σ is the fourth conversion matrix, and D εr is the fifth transformation matrix, g 2 is the sixth transformation matrix.

[0118] Preferably, in the process of integrating and solving the whole machine motion balance equation with the constraints eliminated, the Newmark-β method, the Runge-Kutta method, the Wilson-θ method or the 4th-order Runge-Kutta method is used.

[0119] In a third aspect, a computer device is provided, comprising: one or more processors;

[0120] The processor is configured to execute one or more programs;

[0121] When the one or more programs are executed by the one or more processors, the wind turbine generator system whole machine simulation method is implemented.

[0122] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed, the wind turbine generator system whole machine simulation method is implemented.

[0123] The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects:

[0124] The present invention relates to the technical field of wind turbine simulation, and specifically provides a wind turbine simulation method and device, including: integrating the characteristic matrix of each unit in the finite element model of the wind turbine into the whole machine motion balance equation of the wind turbine based on the node number of each unit in the finite element model of the wind turbine; converting the whole machine motion balance equation of the wind turbine to obtain the whole machine motion balance equation with constraints eliminated; integrating and solving the whole machine motion balance equation with constraints eliminated to obtain the whole machine simulation result of the wind turbine; wherein the characteristic matrix includes: mass matrix, damping matrix and stiffness matrix, and the simulation result includes: node velocity vector of each unit in the finite element model of the wind turbine. The technical solution provided by the present invention divides the various components and interaction relationships of the wind turbine body structure into modules, clarifies the operation rules and modeling methods of each module, realizes the development of multi-subsystem coupling simulation modeling software of the wind turbine, can be used to guide the whole machine and simulation design of the unit and the development of tools, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0125] Figure 1 It is a schematic flow chart of main steps of the wind turbine generator system simulation method according to an embodiment of the present invention;

[0126] Figure 2 This is a schematic diagram of a whole unit according to an embodiment of the present invention;

[0127] Figure 3 This is a schematic diagram of node numbering of the entire machine according to an embodiment of the present invention;

[0128] Figure 4 is a time series variation curve diagram of the hub coordinate system load under normal power generation conditions of an embodiment of the present invention;

[0129] Figure 5 is a time series variation curve diagram of blade load under normal power generation conditions of an embodiment of the present invention;

[0130] Figure 6 is a time series curve diagram of blade tip deformation under normal power generation conditions of an embodiment of the present invention;

[0131] Figure 7 is a time series curve diagram of the tower bottom load under normal power generation conditions of an embodiment of the present invention;

[0132] Figure 8 It is a time series variation curve diagram of the tower top displacement under normal power generation conditions of an embodiment of the present invention. DETAILED DESCRIPTION

[0133] The specific implementation modes of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0134] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0135] As disclosed in the background technology, at present, wind power development is developing towards complex landforms and deep seas. High efficiency, high reliability and lightweight have become the research and development trends of units. The capacity of a single unit has developed to more than 10MW, and the scale of the unit has entered the super-large stage. The simulation design and load analysis of the whole wind turbine unit are the primary links in the research and development of the unit. However, with the continuous increase in the capacity of wind turbines, the modeling refinement requirements of the structural components of the whole wind turbine unit are getting higher and higher. The huge amount of data storage will greatly increase the scale of calculation, which significantly reduces the efficiency of simulation calculation. Therefore, how to improve the calculation efficiency of the whole wind turbine simulation is the primary problem currently facing the whole wind turbine simulation.

[0136] In the prior art, the invention patent application: An integrated simulation and analysis method and platform device for a fixed offshore wind turbine, application number 202211640753.X, application date 2022.12.20, discloses an integrated simulation and analysis method and platform device for a fixed offshore wind turbine. This scheme establishes an integrated simulation model according to the aerodynamic, structural and hydrodynamic parameters of the wind turbine, and simulates in the wind turbine dynamics simulation software based on the defined simulation condition matrix and the integrated simulation model, and performs design verification on the obtained simulation results of the wind turbine cabin assembly, tower and foundation, and determines whether the strength requirements are met according to the verification results. If not, update at least one of the tower and foundation structure parameters and control strategies, and perform simulation iterative optimization until the verification results that meet the strength requirements are obtained, and then output the optimal design parameters of the tower and foundation suitable for the target site.

[0137] Invention patent application: Wind turbine dynamics simulation method, system, electronic device and storage medium, application number: 202311192111.2, application date: 2023.09.15, discloses a wind turbine dynamics simulation method, system, electronic device and storage medium, involving the field of wind turbine dynamics simulation, the method includes: obtaining wind turbine information, wind condition information and unit operation setting information; using wind turbine information to establish a wind turbine model; using wind condition information and unit operation setting information to generate multiple groups of working condition information, and using multiple groups of working condition information to perform dynamic simulation on the wind turbine model; performing simulation result analysis on the dynamic simulation results of the wind turbine model, and visually outputting the analysis results; it can realize the automatic establishment of the wind turbine model, the automatic generation of working condition information and the automatic execution of a large number of dynamic simulations, and can perform simulation result analysis on the dynamic simulation results of the wind turbine model, and visually output the analysis results, which can facilitate relevant personnel to view the simulation effect, thereby improving the efficiency and effect of wind turbine dynamics simulation.

[0138] However, the above method is not sophisticated enough in building the whole model of the wind turbine and requires huge computing power, which cannot meet the current needs of efficient simulation.

[0139] In order to improve the above problems, the present invention relates to the field of wind turbine simulation technology, and specifically provides a wind turbine simulation method and device, including: integrating the characteristic matrix of each unit in the finite element model of the wind turbine into the whole machine motion balance equation of the wind turbine based on the node number of each unit in the finite element model of the wind turbine; converting the whole machine motion balance equation of the wind turbine to obtain the whole machine motion balance equation with constraints eliminated; integrating and solving the whole machine motion balance equation with constraints eliminated to obtain the whole machine simulation result of the wind turbine; wherein the characteristic matrix includes: mass matrix, damping matrix and stiffness matrix, and the simulation result includes: node velocity vector of each unit in the finite element model of the wind turbine. The technical solution provided by the present invention divides the various components and interaction relationships of the wind turbine body structure into modules, clarifies the operation rules and modeling methods of each module, realizes the development of multi-subsystem coupling simulation modeling software of the wind turbine, can be used to guide the whole machine and simulation design of the unit and the development of tools, and has broad application prospects.

[0140] The above scheme is described in detail below.

[0141] Example 1

[0142] See attached Figure 1 , Figure 1 FIG. 1 is a schematic flow chart of the main steps of a wind turbine generator system simulation method according to an embodiment of the present invention. Figure 1As shown, the wind turbine generator system simulation method in the embodiment of the present invention mainly includes the following steps:

[0143] Step S101: integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set;

[0144] Step S102: transforming the whole machine motion balance equation of the wind turbine generator set to obtain the whole machine motion balance equation with no constraints;

[0145] Step S103: Integrate and solve the whole machine motion balance equation with the constraint eliminated to obtain the whole machine simulation result of the wind turbine;

[0146] The characteristic matrix includes: a mass matrix, a damping matrix and a stiffness matrix, and the simulation result includes: a node velocity vector of each unit in the finite element model of the wind turbine generator set.

[0147] In this embodiment, when modeling a wind turbine, the structure of the wind turbine can be regarded as a collection of a series of interconnected structural components, which are in an inertial coordinate system and can undergo large deformation and movement relative to adjacent components. The relationship between the components is described by assuming that the structural components are rigid or flexible. For example, the support structure, tower and blades can be considered flexible or rigid, and the hub, main shaft, gearbox and generator rotor are generally considered rigid.

[0148] When the blades and tower are considered as rigid, multi-body dynamics modeling is adopted. When they are considered as flexible, the blades and tower are modeled by finite element.

[0149] Rigid components are relatively easy to model, considering only motion and force, not deformation. Flexible components are relatively complex, considering both motion and force, as well as their own deformation.

[0150] When the whole unit is modeled by a rigid-flexible coupling body, the flexible body often moves and deforms due to the relative motion of the rigid body and the inertia of the rigid body.

[0151] The rigid body motion of a component is described by the motion of a set of characteristic points (i.e., component nodes), where the motion of the component nodes is assumed to be known. Components can only be connected through nodes. When connected, components and nodes are regarded as units and nodes of the finite element method, and the finite element model integration method is used to link the component nodes involved in the connection to the global structure nodes to achieve overall modeling. In order to quickly calculate deformation and motion, the blades and towers can be temporarily considered as rigid bodies in the multi-body dynamics model, and their own deformation can be considered.

[0152] like Figure 2As shown in the figure, the wind turbine dynamics modeling components mainly include 12 components, including three blades, hub, main shaft, main bearing, gearbox, generator rotor, generator stator, main frame, yaw bearing, tower, etc. The whole machine is divided into three blades, and the connection points are numbered starting from the hub. The whole unit has a total of 17 nodes. Figure 3 shown.

[0153] Blade 1, node 4 is connected to the hub, node 1 is a free end, not connected to any parts. Each node has 6 degrees of freedom.

[0154] Blade 2, node 5 is connected to the hub, and node 2 is a free end and is not connected to any component.

[0155] Blade 3, node 6 is connected to the hub, and node 3 is a free end and is not connected to any component.

[0156] The hub, nodes 4, 5, and 6 are connected to blades 1, 2, and 3 respectively, and node 7 is connected to the main shaft.

[0157] The main shaft, node 7 is connected to the hub, 8 is connected to the bearing seat, and 11 is connected to the gear box.

[0158] Main bearing, node 8 is connected to the main shaft, and node 9 is connected to the main frame.

[0159] Gearbox, node 11 is connected to the main shaft, node 12 is connected to the generator rotor, and node 10 is connected to the main frame.

[0160] The generator rotor, node 12 is connected to the gearbox, and node 13 is connected to the generator stator.

[0161] Generator stator, node 13 is connected to the generator rotor, and node 14 is connected to the host.

[0162] Main frame, node 9 is connected to the main bearing, node 10 is connected to the gearbox, node 14 is connected to the generator stator, and node 15 is connected to the yaw bearing.

[0163] Yaw bearing, node 15 is connected to the main frame, and node 16 is connected to the tower.

[0164] Tower, node 16 is connected to the yaw bearing, 17 is the tower bottom node number, and is not connected to any component.

[0165] In this embodiment, when the component of the wind turbine generator set is a flexible component, a linear space beam unit is used to model the flexible component, and the space beam unit is used as a unit in the finite element model of the wind turbine generator set.

[0166] In this embodiment, when the component of the wind turbine generator set is a rigid component, the rigid component is used as a unit in the finite element model of the wind turbine generator set.

[0167] The modal shape functions of flexible components such as blades and towers can be calculated by the finite element method and are considered as linear elastic structures. Linear spatial beam elements such as Timoshenko beams and Euler beams are generally used for modeling. In addition, finite element models can also be used to calculate the structural internal forces of flexible components such as blades and towers. Linear spatial beam elements generally have two nodes, each of which has three translations and three rotations for a total of six degrees of freedom. The deformation at any position between the two nodes of the element can be calculated using the interpolation of the element shape function. If the shear effect of the structural deformation is more obvious, Timoshenko beams can be used for modeling. If the shear effect can be ignored, Euler beams can be used for modeling.

[0168] In this embodiment, the deformation or motion state of the component is described using generalized strain, which is related to the degree of freedom of the component, that is, the relative motion of the node. For example, a generalized strain of the yaw bearing is defined as the yaw angle, and sticking may occur when the bearing has stick-slip friction, at which time the absolute angular velocity (that is, the generalized strain rate) is close to zero.

[0169] Depending on the simulation requirements, the components can be modeled with or without considering mass. The generalized inertial forces are derived based on the principle of virtual work, where the inertial force density is expressed based on the d'Alembert principle. It is also assumed that the absolute displacements of all mass points in the component can be expressed as a function of the relative position of the component, the position and orientation of the nodes, and the generalized strain.

[0170] External loads are applied to components only as nodal loads or generalized nodal stresses, where nodal loads are related to nodal velocities and generalized nodal stresses are related to generalized strain rates. For example, for distributed loads such as wind and waves, they can be converted into corresponding nodal loads or generalized stresses based on the principle of virtual work. For yaw bearings, the applied nodal loads or generalized stresses are the torques applied by the yaw motors. For pitch bearings, the applied nodal loads or generalized stresses are the torques of the pitch motors.

[0171] The gravity loads on the components of the unit can be conveniently considered as distributed loads, or as equivalent concentrated loads acting on the center of gravity of the components.

[0172] In this embodiment, the whole machine motion balance equation is as follows:

[0173]

[0174] In the above formula, M rr 、M rε 、M εε They are the mass matrix related to the whole wind turbine motion, the coupled mass matrix related to motion and deformation, and the mass matrix related to deformation. r is the constraint matrix related to node velocity, D εis the constraint matrix related to the generalized strain rate of the node, is the node velocity vector of each unit in the finite element model of the wind turbine, is a generalized or custom strain vector, λ is the vector of Lagrange multipliers corresponding to the constraints, C εε is the generalized strain rate-dependent structural damping matrix, is the generalized strain rate, K εε is the structural stiffness matrix related to generalized strain, ε is the generalized strain, f a is the node load vector, f i is the inertial force caused by the node velocity, σ a is the generalized stress vector caused by the generalized strain rate, σ 0 is the generalized constrained stress vector corresponding to the specified strain at the node, σ i is the inertia force caused by the generalized strain rate of the node, a 2 is the conversion matrix when transforming acceleration, and T is the transpose sign.

[0175] In this embodiment, the characteristic matrix of each unit in the finite element model of the wind turbine generator set is integrated into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set, including:

[0176] When the number of node numbers of the unit is 2, let the node numbers of the unit be i and j respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0177] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0178] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0179] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0180] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0181] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0182] In this embodiment, the characteristic matrix of each unit in the finite element model of the wind turbine generator set is integrated into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set, including:

[0183] When the number of node numbers of the unit is 3, let the node numbers of the unit be i, j and k respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0184] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0185] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0186] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k]

[0187] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0188] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0189] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k]

[0190] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i]

[0191] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j]

[0192] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k]

[0193] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0194] In this embodiment, the characteristic matrix of each unit in the finite element model of the wind turbine generator set is integrated into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set, including:

[0195] When the number of node numbers of the unit is 4, let the node numbers of the unit be i, j, k and m respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0196] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0197] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0198] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k]

[0199] [(X*(i-1)+1):X*i,(X*(m-1)+1):X*m]

[0200] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0201] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0202] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k]

[0203] [(X*(j-1)+1):X*j,(X*(m-1)+1):X*m]

[0204] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i]

[0205] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j]

[0206] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k]

[0207] [(X*(k-1)+1):X*k,(X*(m-1)+1):X*m]

[0208] [(X*(m-1)+1):X*m,(X*(i-1)+1):X*i]

[0209] [(X*(m-1)+1):X*m,(X*(j-1)+1):X*j]

[0210] [(X*(m-1)+1):X*m,(X*(k-1)+1):X*k]

[0211] [(X*(m-1)+1):X*m,(X*(m-1)+1):X*m]

[0212] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0213] In one embodiment, in the process of integrating the characteristic matrix of each unit in the finite element model of the wind turbine group into the overall motion balance equation of the wind turbine group based on the node number of each unit in the finite element model of the wind turbine group, when multiple elements are integrated at the same position of the characteristic matrix in the overall motion balance equation, the sum of the multiple elements is used as the element value of the same position in the characteristic matrix in the overall motion balance equation.

[0214] In a specific implementation, if all the node degrees of freedom of the whole machine consider the displacement along the three directions of x, y, and z and the rotation angle around the three coordinate axes of x, y, and z, a total of 6 degrees of freedom. The yaw bearing (subscript yaw) has two nodes, namely a proximal node numbered 16 connected to the tower and a distal node numbered 15 connected to the main frame, and each node has 6 degrees of freedom. Then the dimension of the coefficient matrix of the yaw bearing dynamic equation is 12*12. Taking the mass matrix For example, the yaw bearing In the whole machine M rr The positions in are: [85:90,85:90], [85:90,91:96], [91:96,91:96], [91:96,85:90]; [85:90,85:90] means row 85 to row 90, column 85 to column 90;

[0215] For example, blade 1 (bladed1) has node 4 connected to the hub, and node 1 is a free end, not connected to any component. Each node has 6 degrees of freedom. For example, the yaw bearing It is a 12×12 matrix. rr The positions in the are [1:6,1:6], [1:6,19:24], [19:24,19:24], [19:24,1:6].

[0216] After integrating the three blades, hub, main shaft, main bearing, gearbox, generator rotor, generator stator, main frame, yaw bearing, tower and other 12 parts according to the above method, the balance equation of the whole unit can be obtained.

[0217] The equations of motion for the complete system have been derived using a multibody dynamics approach based on virtual work. The solution to this system of equations is generally difficult to find because the augmented mass matrix, including the constraint matrix, is usually ill-conditioned. Therefore, in one embodiment, the equilibrium equations of motion for the complete machine with no constraints are as follows:

[0218]

[0219] C=C εε

[0220] K=K εε

[0221]

[0222] In the above formula, M is the first conversion matrix, C is the second conversion matrix, K is the third conversion matrix, σ is the fourth conversion matrix, and D εr is the fifth transformation matrix, g 2 is the sixth transformation matrix.

[0223] In this embodiment, in the process of integrating and solving the constraint-eliminated whole machine motion balance equation, the Newmark-β method, the Runge-Kutta method, the Wilson-θ method or the fourth-order Runge-Kutta method is used.

[0224] The present invention can smoothly simulate and calculate the dynamic response of the wind turbine in operation, and can calculate the dynamic data of the load and deformation of the wind turbine blades, tower, and hub, as well as the dynamic changes of the generator speed, torque, and power, and display them in dynamic graphics visualization. The time series change curve of the hub coordinate system load under normal power generation conditions is as follows: Figure 4 As shown in the figure, the blade load time series curve under normal power generation conditions is as follows: Figure 5 As shown in the figure, the time series curve of blade tip deformation under normal power generation conditions is as follows: Figure 6 As shown in the figure, the time series curve of the tower bottom load under normal power generation conditions is as follows: Figure 7 As shown in the figure, the time series curve of the tower top displacement under normal power generation conditions is as follows: Figure 8 shown.

[0225] Example 2

[0226] Based on the same inventive concept, the present invention also provides a wind turbine complete machine simulation device, the wind turbine complete machine simulation device comprising:

[0227] An integration module, used for integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set;

[0228] A conversion module, used for converting the whole machine motion balance equation of the wind turbine generator set to obtain the whole machine motion balance equation with constraints eliminated;

[0229] A solution module, used for integrally solving the whole machine motion balance equation with the constraint eliminated to obtain the whole machine simulation result of the wind turbine;

[0230] The characteristic matrix includes: a mass matrix, a damping matrix and a stiffness matrix, and the simulation result includes: a node velocity vector of each unit in the finite element model of the wind turbine generator set.

[0231] Preferably, the whole machine motion balance equation is as follows:

[0232]

[0233] In the above formula, M rr 、M rε 、M εε They are the mass matrix related to the whole wind turbine motion, the coupled mass matrix related to motion and deformation, and the mass matrix related to deformation. r is the constraint matrix related to node velocity, D ε is the constraint matrix related to the generalized strain rate of the node, is the node velocity vector of each unit in the finite element model of the wind turbine, is a generalized or custom strain vector, λ is the vector of Lagrange multipliers corresponding to the constraints, C εε is the generalized strain rate-dependent structural damping matrix, is the generalized strain rate, K εε is the structural stiffness matrix related to generalized strain, ε is the generalized strain, f a is the node load vector, f i is the inertial force caused by the node velocity, σ a is the generalized stress vector caused by the generalized strain rate, σ 0 is the generalized constrained stress vector corresponding to the specified strain at the node, σ i is the inertia force caused by the generalized strain rate of the node, a 2 is the conversion matrix when transforming acceleration, and T is the transpose sign.

[0234] Preferably, when the component of the wind turbine is a flexible component, a linear space beam unit is used to model the flexible component, and the space beam unit is used as a unit in the finite element model of the wind turbine.

[0235] Preferably, when the component of the wind turbine generator set is a rigid component, the rigid component is used as a unit in the finite element model of the wind turbine generator set.

[0236] Preferably, the integration module is specifically used for:

[0237] When the number of node numbers of the unit is 2, let the node numbers of the unit be i and j respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0238] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0239] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0240] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0241] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0242] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0243] Preferably, the integration module is specifically used for:

[0244] When the number of node numbers of the unit is 3, let the node numbers of the unit be i, j and k respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0245] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0246] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j[

[0247] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k]

[0248] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0249] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0250] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k]

[0251] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i]

[0252] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j]

[0253] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k]

[0254] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0255] Preferably, the integration module is specifically used for:

[0256] When the number of node numbers of the unit is 4, let the node numbers of the unit be i, j, k and m respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows:

[0257] [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i]

[0258] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j]

[0259] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k]

[0260] [(X*(i-1)+1):X*i,(X*(m-1)+1):X*m]

[0261] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i]

[0262] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j]

[0263] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k]

[0264] [(X*(j-1)+1):X*j,(X*(m-1)+1):X*m]

[0265] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i]

[0266] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j]

[0267] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k]

[0268] [(X*(k-1)+1):X*k,(X*(m-1)+1):X*m]

[0269] [(X*(m-1)+1):X*m,(X*(i-1)+1):X*i]

[0270] [(X*(m-1)+1):X*m,(X*(j-1)+1):X*j]

[0271] [(X*(m-1)+1):X*m,(X*(k-1)+1):X*k]

[0272] [(X*(m-1)+1):X*m,(X*(m-1)+1):X*m]

[0273] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

[0274] Furthermore, in the process of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the overall motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set, when multiple elements are integrated at the same position of the characteristic matrix in the overall motion balance equation, the sum of the multiple elements is used as the element value of the same position in the characteristic matrix in the overall motion balance equation.

[0275] Furthermore, the motion balance equation of the whole machine after eliminating the constraint is as follows:

[0276]

[0277] C=C εε

[0278] K=K εε

[0279]

[0280] In the above formula, M is the first conversion matrix, C is the second conversion matrix, K is the third conversion matrix, σ is the fourth conversion matrix, and D εr is the fifth transformation matrix, g 2 is the sixth transformation matrix.

[0281] Preferably, in the process of integrating and solving the whole machine motion balance equation with the constraints eliminated, the Newmark-β method, the Runge-Kutta method, the Wilson-θ method or the 4th-order Runge-Kutta method is used.

[0282] Example 3

[0283] Based on the same inventive concept, the present invention also provides a computer device, which includes a processor and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. 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, and is specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function, so as to implement the steps of a wind turbine whole machine simulation method in the above embodiment.

[0284] Example 4

[0285] Based on the same inventive concept, the present invention also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It can be understood that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable 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 the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the steps of a wind turbine whole machine simulation method in the above embodiment.

[0286] Those skilled in the art will appreciate 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. Moreover, 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.

[0287] 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.

[0288] 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 including 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.

[0289] 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.

[0290] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A wind turbine complete machine simulation method, characterized in that: The method comprises: Based on the node numbers of each unit in the finite element model of the wind turbine, the characteristic matrix of each unit in the finite element model of the wind turbine is integrated into the overall motion balance equation of the wind turbine; Transforming the whole machine motion balance equation of the wind turbine generator set to obtain the whole machine motion balance equation with no constraints; Integrating and solving the constraint-eliminated whole machine motion balance equation to obtain a whole machine simulation result of the wind turbine generator set; The characteristic matrix includes: a mass matrix, a damping matrix and a stiffness matrix, and the simulation result includes: a node velocity vector of each unit in the finite element model of the wind turbine generator set.

2. The method according to claim 1, characterized in that The whole machine motion balance equation is as follows: In the above formula, M rr 、M rε 、M εε They are the mass matrix related to the whole wind turbine motion, the coupled mass matrix related to motion and deformation, and the mass matrix related to deformation. r is the constraint matrix related to node velocity, D ε is the constraint matrix related to the generalized strain rate of the node, is the node velocity vector of each unit in the finite element model of the wind turbine, is a generalized or custom strain vector, λ is the vector of Lagrange multipliers corresponding to the constraints, C εε is the generalized strain rate-dependent structural damping matrix, is the generalized strain rate, K εε is the structural stiffness matrix related to generalized strain, ε is the generalized strain, f a is the node load vector, f i is the inertial force caused by the node velocity, σ a is the generalized stress vector caused by the generalized strain rate, σ0 is the generalized constraint stress vector corresponding to the specified strain of the node, σ i is the inertial force caused by the generalized strain rate of the node, a2 is the transformation matrix when transforming the acceleration, and T is the transpose sign.

3. The method according to claim 1, characterized in that When the components of the wind turbine are flexible components, linear space beam elements are used to model the flexible components, and the space beam elements are used as elements in the finite element model of the wind turbine.

4. The method according to claim 1, characterized in that When the component of the wind turbine generator set is a rigid component, the rigid component is used as a unit in the finite element model of the wind turbine generator set.

5. The method according to claim 1, characterized in that The method of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set includes: When the number of node numbers of the unit is 2, let the node numbers of the unit be i and j respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows: [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

6. The method according to claim 1, characterized in that The method of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set includes: When the number of node numbers of the unit is 3, let the node numbers of the unit be i, j and k respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows: [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

7. The method according to claim 1, characterized in that The method of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set includes: When the number of node numbers of the unit is 4, let the node numbers of the unit be i, j, k and m respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows: [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k] [(X*(i-1)+1):X*i,(X*(m-1)+1):X*m] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k] [(X*(j-1)+1):X*j,(X*(m-1)+1):X*m] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k] [(X*(k-1)+1):X*k,(X*(m-1)+1):X*m] [(X*(m-1)+1):X*m,(X*(i-1)+1):X*i] [(X*(m-1)+1):X*m,(X*(j-1)+1):X*j] [(X*(m-1)+1):X*m,(X*(k-1)+1):X*k] [(X*(m-1)+1):X*m,(X*(m-1)+1):X*m] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

8. The method according to claim 5, 6 or 7, characterized in that In the process of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the overall motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set, when multiple elements are integrated at the same position of the characteristic matrix in the overall motion balance equation, the sum of the multiple elements is used as the element value of the same position in the characteristic matrix in the overall motion balance equation.

9. The method according to claim 2, characterized in that The motion balance equation of the whole machine after eliminating the constraint is as follows: C=C εε K=K εε In the above formula, M is the first conversion matrix, C is the second conversion matrix, K is the third conversion matrix, σ is the fourth conversion matrix, and D εr is the fifth conversion matrix, and g2 is the sixth conversion matrix.

10. The method according to claim 1, characterized in that In the process of integrating and solving the constraint-eliminated whole machine motion balance equation, the Newmark-β method, the Runge-Kutta method, the Wilson-θ method or the fourth-order Runge-Kutta method is used.

11. A wind turbine complete machine simulation device, characterized in that: The device comprises: An integration module, used for integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the whole machine motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set; A conversion module, used for converting the whole machine motion balance equation of the wind turbine generator set to obtain the whole machine motion balance equation with constraints eliminated; A solution module, used for integrally solving the whole machine motion balance equation with the constraint eliminated to obtain the whole machine simulation result of the wind turbine; The characteristic matrix includes: a mass matrix, a damping matrix and a stiffness matrix, and the simulation result includes: a node velocity vector of each unit in the finite element model of the wind turbine generator set.

12. The device according to claim 11, characterized in that The whole machine motion balance equation is as follows: In the above formula, M rr 、M rε 、M εε They are the mass matrix related to the whole wind turbine motion, the coupled mass matrix related to motion and deformation, and the mass matrix related to deformation. r is the constraint matrix related to node velocity, D ε is the constraint matrix related to the generalized strain rate of the node, is the node velocity vector of each unit in the finite element model of the wind turbine, is a generalized or custom strain vector, λ is the vector of Lagrange multipliers corresponding to the constraints, C εε is the generalized strain rate-dependent structural damping matrix, is the generalized strain rate, K εε is the structural stiffness matrix related to generalized strain, ε is the generalized strain, f a is the node load vector, f i is the inertial force caused by the node velocity, σ a is the generalized stress vector caused by the generalized strain rate, σ0 is the generalized constraint stress vector corresponding to the specified strain of the node, σ i is the inertial force caused by the generalized strain rate of the node, a2 is the transformation matrix when transforming the acceleration, and T is the transpose sign.

13. The device according to claim 11, characterized in that When the components of the wind turbine are flexible components, linear space beam elements are used to model the flexible components, and the space beam elements are used as elements in the finite element model of the wind turbine.

14. The device according to claim 11, characterized in that When the component of the wind turbine generator set is a rigid component, the rigid component is used as a unit in the finite element model of the wind turbine generator set.

15. The device according to claim 11, characterized in that The integration module is specifically used for: When the number of node numbers of the unit is 2, let the node numbers of the unit be i and j respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows: [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

16. The device according to claim 11, characterized in that The integration module is specifically used for: When the number of node numbers of the unit is 3, let the node numbers of the unit be i, j and k respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows: [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

17. The device according to claim 11, characterized in that The integration module is specifically used for: When the number of node numbers of the unit is 4, let the node numbers of the unit be i, j, k and m respectively, and determine the position of the characteristic matrix of the unit in the overall motion balance equation of the wind turbine set as follows: [(X*(i-1)+1):X*i,(X*(i-1)+1):X*i] [(X*(i-1)+1):X*i,(X*(j-1)+1):X*j] [(X*(i-1)+1):X*i,(X*(k-1)+1):X*k] [(X*(i-1)+1):X*i,(X*(m-1)+1):X*m] [(X*(j-1)+1):X*j,(X*(i-1)+1):X*i] [(X*(j-1)+1):X*j,(X*(j-1)+1):X*j] [(X*(j-1)+1):X*j,(X*(k-1)+1):X*k] [(X*(j-1)+1):X*j,(X*(m-1)+1):X*m] [(X*(k-1)+1):X*k,(X*(i-1)+1):X*i] [(X*(k-1)+1):X*k,(X*(j-1)+1):X*j] [(X*(k-1)+1):X*k,(X*(k-1)+1):X*k] [(X*(k-1)+1):X*k,(X*(m-1)+1):X*m] [(X*(m-1)+1):X*m,(X*(i-1)+1):X*i] [(X*(m-1)+1):X*m,(X*(j-1)+1):X*j] [(X*(m-1)+1):X*m,(X*(k-1)+1):X*k] [(X*(m-1)+1):X*m,(X*(m-1)+1):X*m] In the above formula, X is the number of degrees of freedom of the node, the left side of the comma represents the number of rows of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, the right side of the comma represents the number of columns of the characteristic matrix of the unit integrated into the motion balance equation of the whole machine, and the colon represents to.

18. The device according to claim 15, 16 or 17, characterized in that In the process of integrating the characteristic matrix of each unit in the finite element model of the wind turbine generator set into the overall motion balance equation of the wind turbine generator set based on the node number of each unit in the finite element model of the wind turbine generator set, when multiple elements are integrated at the same position of the characteristic matrix in the overall motion balance equation, the sum of the multiple elements is used as the element value of the same position in the characteristic matrix in the overall motion balance equation.

19. The device according to claim 12, characterized in that The motion balance equation of the whole machine after eliminating the constraint is as follows: C=C εε K=K εε In the above formula, M is the first conversion matrix, C is the second conversion matrix, K is the third conversion matrix, σ is the fourth conversion matrix, and D εr is the fifth conversion matrix, and g2 is the sixth conversion matrix.

20. The device according to claim 11, characterized in that In the process of integrating and solving the constraint-eliminated whole machine motion balance equation, the Newmark-β method, the Runge-Kutta method, the Wilson-θ method or the fourth-order Runge-Kutta method is used.

21. A computer device, characterized in that: include: one or more processors; The processor is configured to execute one or more programs; When the one or more programs are executed by the one or more processors, the wind turbine generator system whole machine simulation method according to any one of claims 1 to 10 is implemented.

22. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed, the wind turbine generator system whole machine simulation method as claimed in any one of claims 1 to 10 is implemented.

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