Wind power joint real-time simulation system and method based on Bladed + RTDS and storage medium
By using GTNET boards to perform direct data interaction between Bladed and RTDS units in the real-time simulation system of wind turbines, the problem of simulation data interaction delay in the prior art is solved, and the simulation accuracy and efficiency are improved.
Patent Information
- Application Number
- CN202411742331.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-29
- Publication Date
- 2025-03-07
AI Technical Summary
The prior art has problems that load distribution and dynamic characteristics cannot be reflected in real-time simulation of large wind turbines, and because peripheral PLC is required as data interaction medium, the simulation data interaction delay is caused, affecting the simulation accuracy.
The GTNET board is used as the data interaction medium between the Bladed unit and the RTDS unit to directly transmit the wind wheel speed data signal, the wind wheel torque data signal and the pitch angle command data signal to avoid the data conversion process through the PLC.
It effectively avoids data delay and harmonic disturbance problems between communication PLC and RTDS units, and improves simulation accuracy and platform construction efficiency.
Smart Images
Figure CN119575837A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of wind power generation simulation, and in particular to a wind power joint real-time simulation system, method and storage medium based on Bladed+RTDS. Background Art
[0002] The high-fidelity real-time simulation platform for large wind turbines can simulate the operating characteristics of actual wind turbines, which not only provides a verification platform for researchers in related fields to conduct research on wind turbine grid-connected characteristics, control technology, and stability verification, but also greatly saves researchers' solution verification time because it can realize real-time operation compared to offline simulation software such as PSCAD, MATLAB / SIMULINK, etc.
[0003] In the prior art, for real-time simulation of large wind turbines, one method is to use a static model to model the wind turbine, so the load distribution and dynamic characteristics of the front end of the wind turbine, such as the transmission shaft system, tower, blades, etc., cannot be reflected in the real-time simulation. The second method is to build an aerodynamic and mechanical model of the wind turbine in the commercial software Bladed, and build an electrical model of the wind turbine in RTDS, and use the analog I / O board provided by the peripheral PLC and RTDS to realize the data exchange between Bladed and RTDS. However, since it requires an additional peripheral PLC as a data exchange medium between Bladed and RTDS, while increasing the cost of platform construction, it is easy to cause delays in the simulation data exchange between Bladed and RTDS, affecting the simulation accuracy. Summary of the invention
[0004] Based on this, it is necessary to propose a wind power joint real-time simulation system, method and storage medium based on Bladed+RTDS to address the above problems.
[0005] A wind power joint real-time simulation system based on Bladed+RTDS, characterized in that the system comprises: a GTNET board, the GTNET board comprises a first interface and a second interface, the first interface is connected to a Bladed unit, and the second interface is connected to an RTDS unit; the GTNET board comprises:
[0006] receiving the wind rotor speed data signal output by the Bladed unit, and transmitting the wind rotor speed data signal to the RTDS unit according to a real-time network communication protocol;
[0007] receiving the wind rotor torque data signal output by the RTDS unit, and transmitting the wind rotor torque data signal to the Bladed unit according to the real-time network communication protocol;
[0008] The pitch angle command data signal output by the RTDS unit is received, and the pitch angle command data signal is transmitted from the RTDS unit to the Bladed unit according to the real-time network communication protocol.
[0009] Wherein, the system also includes: a twisted pair cable, the first interface is connected to the Bladed unit through the twisted pair cable, and the second interface is connected to the RTDS unit through the twisted pair cable, for transmitting the wind wheel speed data signal, the wind wheel torque data signal and the pitch angle command data signal.
[0010] The Bladed unit is used to build a blade and tower model of a wind turbine, obtain a wind rotor speed by simulating the blade and tower model of the wind turbine, and convert the wind rotor speed into a wind rotor speed data signal.
[0011] Among them, the RTDS unit is used to build a high-order transmission shaft system model, and determine the pitch control logic model according to the wind rotor speed data signal, determine the wind rotor torque by simulating the high-order transmission shaft system model, determine the pitch angle command value by simulating the pitch control logic model, and convert the wind rotor torque and pitch angle command values into wind rotor torque data signals and pitch angle command data signals respectively.
[0012] A wind power joint real-time simulation method based on Bladed+RTDS, the method comprising:
[0013] The wind rotor speed data signal output by the Bladed unit is received, and the wind rotor speed data signal is transmitted to the RTDS unit according to the real-time network communication protocol.
[0014] The wind wheel torque data signal output by the RTDS unit is received, and the wind wheel torque data signal is transmitted to the Bladed unit according to the real-time network communication protocol.
[0015] The pitch angle command data signal output by the RTDS unit is received, and the pitch angle command data signal is transmitted to the Bladed unit according to the real-time network communication protocol.
[0016] The Bladed unit includes blade and tower models of the wind turbine, the RTDS unit includes a high-order transmission shaft system model and a pitch control logic model, and the method further specifically includes:
[0017] The wind rotor speed is obtained by simulating the blades and tower model of the wind turbine generator set, and the wind rotor speed is converted into the wind rotor speed data signal.
[0018] The wind wheel torque is determined by simulating the high-order transmission shaft system model, and the wind wheel torque is converted into a wind wheel torque data signal.
[0019] A variable pitch control logic model is determined according to the wind rotor speed data signal, a pitch angle command value is determined by simulating the variable pitch control logic model, and the pitch angle command value is converted into a pitch angle command data signal.
[0020] The step of simulating the blades and tower model of the wind turbine to obtain the rotor speed and converting the rotor speed into a rotor speed data signal specifically includes:
[0021] The displacement matrices of the blades and the tower are obtained by simulating the blade and tower models of the wind turbine generator set.
[0022] The rotor displacement is extracted according to the displacement matrix of the blades and the tower, the rotor speed is determined by derivation of the rotor displacement, and the rotor speed is converted into a rotor speed data signal.
[0023] Wherein, the method further comprises:
[0024] The mass matrix, damping coefficient matrix, stiffness coefficient matrix and external load matrix of wind turbine blades and tower are used as input data, and the mass matrix of the tower model is used as simulation output data.
[0025] The blade and tower model of the wind turbine generator set is constructed according to the input data and the output data. The blade and tower model of the wind turbine generator set is:
[0026]
[0027] Among them, M(t) is the mass matrix of the wind turbine blades and tower at time t, D(t) is the damping coefficient matrix at time t, K(t) is the stiffness coefficient matrix at time t, f(t) is the external load matrix at time t, and q is the displacement matrix of the blades and tower at time t.
[0028] Wherein, the method further comprises:
[0029] According to the rotation characteristic parameters of the wind wheel, driving wheel, driven wheel and generator, a high-order transmission shaft system model is built. The rotation characteristic parameters include angular frequency, moment of inertia and rotation torque. The high-order transmission shaft system model is:
[0030]
[0031] Among them, J W is the moment of inertia of the wind wheel, J C1 is the moment of inertia of the driving wheel, J C2 is the moment of inertia of the driven wheel, JG is the moment of inertia of the generator, ω W is the angular frequency of the wind wheel, ω C1 is the rotation angular frequency of the driving wheel, ω C2 is the angular frequency of the driven wheel, ω G is the rotation angular frequency of the generator, T W is the wind wheel torque, T G is the generator torque, T C1 is the torque between the wind wheel and the driving wheel, T C2 is the torque between the driving wheel and the driven wheel, T C3 is the torque between the driven wheel and the generator, D1 is the mechanical damping coefficient between the wind wheel and the driving wheel, D2 is the mechanical damping coefficient between the driving wheel and the driven wheel, D3 is the mechanical damping coefficient between the driven wheel and the generator, K1 is the stiffness coefficient between the wind wheel and the driving wheel, K2 is the stiffness coefficient between the driving wheel and the driven wheel, K3 is the stiffness coefficient between the driven wheel and the generator, and s is the differential operator in the complex field.
[0032] The step of determining a variable pitch control logic model according to the wind rotor speed data signal, determining a pitch angle command value by simulating the variable pitch control logic model, and converting the pitch angle command value into a pitch angle command data signal specifically includes:
[0033] The wind rotor speed in the wind rotor speed data signal is extracted, the wind rotor speed is used as input data, and the pitch angle command value is used as simulation output data to build a variable pitch control logic model, which is:
[0034]
[0035] Among them, T β is the time constant of pitch angle integral control, ω W is the wind wheel speed, ω Wref is the maximum speed of the wind wheel, k is the kth moment, s is the differential operator in the complex domain, β ref is the pitch angle command value.
[0036] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the steps of the method described above.
[0037] The embodiments of the present invention have the following beneficial effects:
[0038] The present invention uses the GTNET board as the data interaction medium between the Bladed unit and the RTDS unit to directly transmit the wind rotor speed data signal, the wind rotor torque data signal and the pitch angle command data signal, which can effectively avoid the data delay and harmonic disturbance problems caused by the level conversion data between the communication PLC and the RTDS unit. BRIEF DESCRIPTION OF THE DRAWINGS
[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0040] in:
[0041] Figure 1 A schematic diagram of the structure of an embodiment of a wind power joint real-time simulation system based on Bladed+RTDS provided by the invention;
[0042] Figure 2 A structural schematic diagram of another embodiment of a wind power joint real-time simulation system based on Bladed+RTDS provided by the invention;
[0043] Figure 3 It is a flow chart of an embodiment of a wind power joint real-time simulation method based on Bladed+RTDS;
[0044] Figure 4 It is a flow chart of another embodiment of a wind power joint real-time simulation method based on Bladed+RTDS;
[0045] Figure 5 A schematic structural diagram of an embodiment of a storage medium provided by the present invention. DETAILED DESCRIPTION
[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0047] like Figure 1 As shown, Figure 1A structural schematic diagram of an embodiment of a wind power joint real-time simulation system based on Bladed+RTDS provided by the invention. A wind power joint real-time simulation system 10 based on Bladed+RTDS, the system includes: a GTNET board 12, the GTNET board 12 includes a first interface and a second interface, the first interface is connected to the Bladed unit 11, and the second interface is connected to the RTDS unit 13; the GTNET board 12 includes: receiving the wind rotor speed data signal output by the Bladed unit 11, and transmitting the wind rotor speed data signal to the RTDS unit 13 according to the real-time network communication protocol; receiving the wind rotor torque data signal output by the RTDS unit 13, and transmitting the wind rotor torque data signal to the Bladed unit 11 according to the real-time network communication protocol; receiving the pitch angle command data signal output by the RTDS unit 13, and transmitting the pitch angle command data signal from the RTDS unit 13 to the Bladed unit 11 according to the real-time network communication protocol.
[0048] Exemplarily, the GTNET board 12 includes a first interface and a second interface, the first interface is connected to the Bladed unit 11, and the second interface is connected to the RTDS unit 13. The GTNET board 12 receives and sends data from the RTDS unit 13 and the Bladed unit 11 respectively based on the network communication protocol. The GTNET board 12 serves as a data interaction medium between the Bladed unit 11 and the RTDS unit 13, which can effectively avoid data delay and harmonic disturbance problems caused by the level quantity conversion data between the communication PLC and the RTDS unit 13. Therefore, the GTNET board is selected as the data interaction medium, and the UDP protocol is selected as the real-time network communication protocol between the RTDS unit 13 and the Bladed unit 11.
[0049] Based on the UDP protocol, the GTNET board 12 transmits the wind rotor speed data signal obtained by the Bladed unit 11 to the RTDS unit 13, and the wind rotor speed data signal includes the wind rotor speed. At the same time, the wind rotor torque data signal obtained by the RTDS unit 13 is transmitted to the Bladed unit 11, and the wind rotor torque data signal includes the low-speed shaft torque. The pitch angle command data signal obtained by the RTDS unit 13 is transmitted to the Bladed unit 11, and the pitch angle command data signal includes the pitch angle command value, so as to realize closed-loop control.
[0050] From the above description, it can be seen that the present invention uses the GTNET board as the data interaction medium between the Bladed unit and the RTDS unit to directly transmit the wind rotor speed data signal, the wind rotor torque data signal and the pitch angle command data signal, which can effectively avoid the data delay and harmonic disturbance problems caused by the level conversion data between the communication PLC and the RTDS unit.
[0051] like Figure 2 As shown, Figure 2 A schematic diagram of another embodiment of a wind power joint real-time simulation system based on Bladed+RTDS provided by the invention. A wind power joint simulation system based on Bladed+RTDS 10 also includes: a twisted pair 14, which is connected to the Bladed unit 11 and the RTDS unit 13 respectively, and is used to transmit a wind rotor speed data signal, a wind rotor torque data signal and a pitch angle command data signal.
[0052] Exemplarily, based on the network communication protocol, the GTNET board 12 receives and sends data from the upper computer where the blade and tower model 111 of the wind turbine, the high-order transmission shaft system model 131, and the pitch control logic model 132 are located through the twisted pair 14 according to the set cycle, and uses the twisted pair 14 to connect the GTNET board 12 to the RTDS unit 13 and the Bladed unit 11 respectively, to complete the construction of the data interaction channel, and ensure the real-time closed loop of the data interaction between the two. Specifically, the GTNET board 12 receives the wind rotor speed data signal output by the RTDS unit 13, and the wind rotor speed data signal and the pitch angle command data signal transmitted by the Bladed unit 11 through the twisted pair 14, transmits the wind rotor speed data signal to the RTDS unit 13 through the twisted pair 14, and transmits the wind rotor torque data signal to the Bladed unit 11 through the twisted pair 14; the pitch angle command data signal is transmitted to the Bladed unit 11 through the twisted pair.
[0053] It should be noted that the RTDS unit 13 is used to simulate in real time the multi-element coupled dynamic characteristics of a full-order electromagnetic transient model including a high-order transmission shaft system model and a generator, a converter and a power grid.
[0054] Continue reading Figure 2 The Bladed unit 11 is used to build a blade and tower model 111 of a wind turbine, and obtain the wind rotor speed by simulating the blade and tower model 111 of the wind turbine, and convert the wind rotor speed into a wind rotor speed data signal.
[0055] Exemplarily, the Bladed unit 11 is connected to the GTNET board 12, and the Bladed unit 11 is used to construct a blade and tower model 111 of a wind turbine. The multi-coupled dynamic characteristics of aerodynamic and mechanical models such as blades and towers of the turbine are simulated in real time. By simulating the blade and tower model 111 of the wind turbine, the wind rotor speed is obtained and converted into a wind rotor speed data signal.
[0056] Continue reading Figure 2The RTDS unit 13 is used to build a high-order transmission shaft system model 131, and determine the variable pitch control logic model 132 according to the wind rotor speed data signal, determine the wind rotor torque by simulating the high-order transmission shaft system model 131, determine the pitch angle command value by simulating the variable pitch control logic model 132, and convert the wind rotor torque and the pitch angle command value into the wind rotor torque data signal and the pitch angle command data signal respectively.
[0057] Exemplarily, the RTDS unit 13 is connected to the GTNET board 12, and a high-order transmission shaft system model 131 of a high-order transmission shaft system model considering the dynamic characteristics of the gearbox driving wheel and the driven wheel is constructed by using RTDS (real-time digital simulator), and the multivariate coupling dynamic characteristics of the high-order transmission shaft system model of the unit are simulated in real time. In addition, a variable pitch control logic model 132 is constructed in the RTDS unit 13 according to the wind wheel speed data signal. The wind wheel torque is determined by simulating the high-order transmission shaft system model 131, and the pitch angle command value is determined by simulating the variable pitch control logic model 132, and the wind wheel torque and the pitch angle command value are converted into wind wheel torque data signals and pitch angle command data signals respectively, and the generated wind wheel torque and pitch angle command values are sent to the Bladed unit 11 through the GTNET board 12, so as to limit the wind power captured by the wind turbine under strong winds.
[0058] From the above description, it can be seen that the present invention builds the transmission shaft system model of the wind turbine in the RTDS unit, which opens up the freedom of transmission shaft system modeling compared with the existing joint real-time simulation platform and improves the simulation accuracy of the digital wind turbine.
[0059] like Figure 3 As shown, Figure 3 The figure is a flow chart of an embodiment of a wind power joint real-time simulation method based on Bladed+RTDS. A wind power joint real-time simulation method based on Bladed+RTDS, the method comprising:
[0060] S101: receiving a wind rotor speed data signal output by a Bladed unit, and transmitting the wind rotor speed data signal to an RTDS unit according to a real-time network communication protocol.
[0061] Exemplarily, a blade and tower model 111 of a wind turbine is built in the Bladed unit 11, and the blade and tower model 111 of the wind turbine is simulated to obtain the rotor speed, and the rotor speed is converted into a rotor speed data signal to obtain the rotor speed data signal. The rotor speed data signal output by the Bladed unit 11 is received by the GTNET board 12, and the rotor speed data signal is transmitted to the RTDS unit 13 according to the real-time network communication protocol.
[0062] S102: receiving the wind rotor torque data signal output by the RTDS unit, and transmitting the wind rotor torque data signal to the Bladed unit according to the real-time network communication protocol.
[0063] Exemplarily, a high-order transmission shaft system model 131 is built in the RTDS unit 13, and the wind rotor torque is determined by simulating the high-order transmission shaft system model 131, and the wind rotor torque is converted into a wind rotor torque data signal. The wind rotor torque data signal output by the RTDS unit 13 is received by the GTNET board 12, and the wind rotor torque data signal is transmitted to the Bladed unit 11 according to the real-time network communication protocol.
[0064] S103: receiving the pitch angle command data signal output by the RTDS unit, and transmitting the pitch angle command data signal to the Bladed unit according to the real-time network communication protocol.
[0065] Exemplarily, in the RTDS unit 13, the wind rotor speed is extracted from the wind rotor speed data signal, the wind rotor speed is used as the input data, and the pitch angle command value is used as the simulation output data of the RTDS unit 13, and a variable pitch control logic model 132 is built; the pitch angle command value is determined by simulating the variable pitch control logic model 132, and the pitch angle command value is converted into a pitch angle command data signal.
[0066] Furthermore, the pitch angle command data signal is transmitted to the Bladed unit 11 according to the real-time network communication protocol.
[0067] like Figure 4 As shown, Figure 4 The figure is a flow chart of another embodiment of a wind power joint real-time simulation method based on Bladed+RTDS. A wind power joint real-time simulation method based on Bladed+RTDS, the method comprising:
[0068] S201: The wind rotor speed is obtained by simulating the blade and tower model of the wind turbine, and the wind rotor speed is converted into a wind rotor speed data signal, the wind rotor speed data signal is obtained, the wind rotor torque is determined by simulating the high-order transmission shaft system model, and the wind rotor torque is converted into a wind rotor torque data signal.
[0069] Exemplarily, the mass matrix, damping coefficient matrix, stiffness coefficient matrix and external load matrix of the wind turbine blade and tower are used as input data of the Bladed unit 11, and the mass matrix of the tower model is used as the simulation output data of the Bladed unit 11, to build a blade and tower model 111 of the wind turbine; the displacement matrix of the blade and tower is obtained by simulating the blade and tower model 111 of the wind turbine; the rotor displacement is extracted according to the displacement matrix of the blade and tower, the rotor displacement is derived to determine the rotor speed, and the rotor speed is converted into a rotor speed data signal.
[0070] Specifically, the blade and tower model 111 of the wind turbine is:
[0071]
[0072] Among them, M(t) is the mass matrix of the wind turbine blades and tower at time t, D(t) is the damping coefficient matrix at time t, K(t) is the stiffness coefficient matrix at time t, f(t) is the external load matrix at time t, and q is the displacement matrix of the blades and tower at time t.
[0073] By simulating the blade and tower model 111 of the wind turbine, the displacement matrix of the blade and tower is obtained, the wind rotor displacement is extracted according to the displacement matrix of the blade and tower, the wind rotor displacement is derived to determine the wind rotor speed, and the wind rotor speed is converted into a wind rotor speed data signal.
[0074] At the same time, according to the rotation characteristic parameters of the wind wheel, driving wheel, driven wheel and generator, a high-order transmission shaft system model 131 is built in the RTDS unit 13, and the rotation characteristic parameters include angular frequency, moment of inertia and rotation torque; the wind wheel torque is determined according to the high-order transmission shaft system model, and the wind wheel torque is converted into a wind wheel torque data signal.
[0075] Specifically, the high-order transmission shaft system model 131 is:
[0076]
[0077] Among them, J W is the moment of inertia of the wind wheel, J C1 is the moment of inertia of the driving wheel, J C2 is the moment of inertia of the driven wheel, J G is the moment of inertia of the generator, ω W is the angular frequency of the wind wheel, ω C1 is the rotation angular frequency of the driving wheel, ω C2 is the angular frequency of the driven wheel, ω G is the rotation angular frequency of the generator, T W is the wind wheel torque, T G is the generator torque, TC1 is the torque between the wind wheel and the driving wheel, T C2 is the torque between the driving wheel and the driven wheel, T C3 is the torque between the driven wheel and the generator, D1 is the mechanical damping coefficient between the wind wheel and the driving wheel, D2 is the mechanical damping coefficient between the driving wheel and the driven wheel, D3 is the mechanical damping coefficient between the driven wheel and the generator, K1 is the stiffness coefficient between the wind wheel and the driving wheel, K2 is the stiffness coefficient between the driving wheel and the driven wheel, K3 is the stiffness coefficient between the driven wheel and the generator, and s is the differential operator in the complex field.
[0078] S202: Determine a variable pitch control logic model according to the wind rotor speed data signal, determine a pitch angle command value by simulating the variable pitch control logic model, and convert the pitch angle command value into a pitch angle command data signal.
[0079] Exemplarily, in the RTDS unit 13, the wind rotor speed is extracted from the wind rotor speed data signal, the wind rotor speed is used as the input data, and the pitch angle command value is used as the simulation output data of the RTDS unit to build a variable pitch control logic model 132; the pitch angle command value is determined by simulating the variable pitch control logic model 132, and the pitch angle command value is converted into a pitch angle command data signal.
[0080] Specifically, the pitch control logic model 132 is:
[0081]
[0082] Among them, T β is the time constant of pitch angle integral control, ω W is the wind wheel speed, ω Wref is the maximum speed of the wind wheel, k is the kth moment, s is the differential operator in the complex domain, β ref is the pitch angle command value.
[0083] like Figure 5 As shown, Figure 5 The storage medium 20 stores at least one computer program 21, which is executed by a processor to implement the following. Figure 3 and Figure 4 In one embodiment, the storage medium 20 may be a storage chip, a hard disk, a mobile hard disk, a USB flash drive, an optical disk, or other readable and writable storage tools, or a server, etc.
[0084] The above describes specific embodiments of the present specification, and other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily have to be performed in the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
[0085] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment, and non-volatile computer-readable storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.
[0086] The apparatus, device, non-volatile computer-readable storage medium and method provided in the embodiments of this specification correspond to each other, and therefore, the apparatus, device, and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the corresponding apparatus, device, and non-volatile computer storage medium will not be repeated here.
[0087] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
[0088] For the convenience of description, the above device is described by being divided into various units according to their functions and described separately. Of course, when implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware. It should be understood by those skilled in the art that this specification embodiment can be provided as a method, system, or computer program product. Therefore, this specification embodiment can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification embodiment can adopt 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.
[0089] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.
[0090] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.
[0091] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.
Claims
1. A wind power joint real-time simulation system based on Bladed+RTDS, characterized in that: The system comprises: a GTNET card, the GTNET card comprises a first interface and a second interface, the first interface is connected to a Bladed unit, and the second interface is connected to an RTDS unit; the GTNET card comprises: receiving the wind rotor speed data signal output by the Bladed unit, and transmitting the wind rotor speed data signal to the RTDS unit according to a real-time network communication protocol; receiving the wind rotor torque data signal output by the RTDS unit, and transmitting the wind rotor torque data signal to the Bladed unit according to the real-time network communication protocol; The pitch angle command data signal output by the RTDS unit is received, and the pitch angle command data signal is transmitted from the RTDS unit to the Bladed unit according to the real-time network communication protocol.
2. The wind power joint simulation system based on Bladed+RTDS according to claim 1 is characterized in that: The system also includes: a twisted pair cable, through which the first interface is connected to the Bladed unit, and through which the second interface is connected to the RTDS unit, for transmitting the wind wheel speed data signal, the wind wheel torque data signal and the pitch angle command data signal.
3. The wind power joint simulation system based on Bladed+RTDS according to claim 1, characterized in that: The Bladed unit is used to build a blade and tower model of a wind turbine, obtain a wind rotor speed by simulating the blade and tower model of the wind turbine, and convert the wind rotor speed into a wind rotor speed data signal.
4. The wind power joint simulation system based on Bladed+RTDS according to claim 1, characterized in that: The RTDS unit is used to build a high-order transmission shaft system model, and determine the variable pitch control logic model according to the wind rotor speed data signal, determine the wind rotor torque by simulating the high-order transmission shaft system model, determine the pitch angle command value by simulating the variable pitch control logic model, and convert the wind rotor torque and pitch angle command value into a wind rotor torque data signal and a pitch angle command data signal, respectively.
5. A wind power joint real-time simulation method based on Bladed+RTDS, characterized in that: The method comprises: Receiving the wind rotor speed data signal output by the Bladed unit, and transmitting the wind rotor speed data signal to the RTDS unit according to the real-time network communication protocol; receiving the wind rotor torque data signal output by the RTDS unit, and transmitting the wind rotor torque data signal to the Bladed unit according to the real-time network communication protocol; The pitch angle command data signal output by the RTDS unit is received, and the pitch angle command data signal is transmitted to the Bladed unit according to the real-time network communication protocol.
6. The wind power joint simulation method based on Bladed+RTDS according to claim 5 is characterized in that: The Bladed unit includes the blade and tower models of the wind turbine, the RTDS unit includes a high-order transmission shaft system model and a pitch control logic model, and the method further specifically includes: By simulating the blades and tower model of the wind turbine generator set, the wind rotor speed is obtained, and the wind rotor speed is converted into the wind rotor speed data signal; Determine the wind rotor torque by simulating the high-order transmission shaft system model, and convert the wind rotor torque into a wind rotor torque data signal; A variable pitch control logic model is determined according to the wind rotor speed data signal, a pitch angle command value is determined by simulating the variable pitch control logic model, and the pitch angle command value is converted into a pitch angle command data signal.
7. The wind power joint simulation method based on Bladed+RTDS according to claim 6 is characterized in that: The step of simulating the blades and tower model of the wind turbine generator set to obtain the rotor speed, and converting the rotor speed into a rotor speed data signal specifically includes: By simulating the blade and tower models of the wind turbine generator set, a displacement matrix of the blade and the tower is obtained; The rotor displacement is extracted according to the displacement matrix of the blades and the tower, the rotor speed is determined by derivation of the rotor displacement, and the rotor speed is converted into a rotor speed data signal.
8. The wind power joint simulation method based on Bladed+RTDS according to claim 6 is characterized in that: The method further comprises: The mass matrix, damping coefficient matrix, stiffness coefficient matrix and external load matrix of wind turbine blades and tower are used as input data, and the mass matrix of the tower model is used as simulation output data; The blade and tower model of the wind turbine generator set is constructed according to the input data and the output data. The blade and tower model of the wind turbine generator set is: Among them, M(t) is the mass matrix of the wind turbine blades and tower at time t, D(t) is the damping coefficient matrix at time t, K(t) is the stiffness coefficient matrix at time t, f(t) is the external load matrix at time t, and q is the displacement matrix of the blades and tower at time t.
9. The wind power joint simulation method based on Bladed+RTDS according to claim 6, characterized in that: The method further comprises: According to the rotation characteristic parameters of the wind wheel, driving wheel, driven wheel and generator, a high-order transmission shaft system model is built. The rotation characteristic parameters include angular frequency, moment of inertia and rotation torque. The high-order transmission shaft system model is: Among them, J W is the moment of inertia of the wind wheel, J C1 is the moment of inertia of the driving wheel, J C2 is the moment of inertia of the driven wheel, J G is the moment of inertia of the generator, ω W is the angular frequency of the wind wheel, ω C1 is the rotation angular frequency of the driving wheel, ω C2 is the angular frequency of the driven wheel, ω G is the rotation angular frequency of the generator, T W is the wind wheel torque, T G is the generator torque, T C1 is the torque between the wind wheel and the driving wheel, T C2 is the torque between the driving wheel and the driven wheel, T C3 is the torque between the driven wheel and the generator, D1 is the mechanical damping coefficient between the wind wheel and the driving wheel, D2 is the mechanical damping coefficient between the driving wheel and the driven wheel, D3 is the mechanical damping coefficient between the driven wheel and the generator, K1 is the stiffness coefficient between the wind wheel and the driving wheel, K2 is the stiffness coefficient between the driving wheel and the driven wheel, K3 is the stiffness coefficient between the driven wheel and the generator, and s is the differential operator in the complex field.
10. The wind power joint simulation method based on Bladed+RTDS according to claim 7, characterized in that: Determining a variable pitch control logic model according to the wind rotor speed data signal, determining a pitch angle command value by simulating the variable pitch control logic model, and converting the pitch angle command value into a pitch angle command data signal specifically includes: The wind rotor speed in the wind rotor speed data signal is extracted, the wind rotor speed is used as input data, and the pitch angle command value is used as simulation output data to build a variable pitch control logic model, which is: Among them, T β is the time constant of pitch angle integral control, ω W is the wind wheel speed, ω Wref is the maximum speed of the wind wheel, k is the kth moment, s is the differential operator in the complex domain, β ref is the pitch angle command value.
11. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to execute the steps of the method according to any one of claims 5 to 11.