Simulation method and system for three-dimensional model of fan and related equipment simulation

Abstract

The embodiment of the invention provides a simulation method and system for a three-dimensional model of a draught fan and related equipment, and relates to the field of simulation, and the method comprises the steps: obtaining the three-dimensional model of the draught fan in a real-time simulation machine, determining a wind load signal corresponding to the three-dimensional model of the draught fan, and obtaining a first variable pitch yaw signal and / or a first torque signal of the three-dimensional model of the fan sent by the physical controller, obtaining adjustment data of the real-time simulation machine, debugging the physical controller and / or adjusting the three-dimensional model of the fan based on the adjustment data, the first variable pitch yaw signal and / or the first torque signal, and adjusting the three-dimensional model of the fan based on the adjustment data and the first variable pitch yaw signal and / or the first torque signal. According to the method, the semi-physical simulation analysis of the fan three-dimensional physical simulation model and the physical controller is realized, the advantages of pure digital simulation and pure physical simulation are considered, the simulation precision is high and can reach a millisecond level, and the simulation accuracy is effectively ensured.

Description

Technical Field

[0001] The present application relates to the field of simulation, and in particular, to a simulation method, system and related equipment for a three-dimensional model of a wind turbine. Background Art

[0002] In the prior art, the simulation of wind turbines usually adopts a test platform including an RT-LAB host computer and a real-time simulator. The real-time simulator is connected to the doubly-fed wind turbine controller, and uses FPGA to run the physical model of the wind turbine main circuit to realize the hardware-in-the-loop simulation test of the doubly-fed wind turbine controller, simulate the on-site test environment as much as possible and conduct multi-condition tests to realize the control effect and performance verification of the wind turbine controller.

[0003] The simulation model in the existing technology is a main circuit physical model, and the RT-LAB real-time simulation platform is used. The focus is on the hardware-in-the-loop test of the fan main circuit model. Without the participation of a three-dimensional solid model, it is impossible to give feedback on mechanical movement. Summary of the invention

[0004] The purpose of the present application is to provide a simulation method, system and related equipment for a three-dimensional model of a wind turbine, which can simulate the three-dimensional model of the wind turbine, taking into account the advantages of pure digital simulation and pure physical simulation, and ensure the accuracy of the simulation.

[0005] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for simulating a three-dimensional model of a wind turbine, the method comprising:

[0007] Obtain a three-dimensional model of the fan in the real-time simulator;

[0008] Determining a wind load signal corresponding to the three-dimensional model of the wind turbine;

[0009] Acquire a first pitch yaw signal and / or a first torque signal of the three-dimensional model of the wind turbine sent by a physical controller, wherein the physical controller calculates the first pitch yaw signal and / or the first torque signal of the three-dimensional model of the wind turbine based on the wind load signal;

[0010] Acquiring adjustment data of a real-time simulator, wherein the adjustment data is obtained by adjusting the three-dimensional model of the wind turbine based on the first variable pitch yaw signal and / or the first torque signal;

[0011] Based on the adjustment data, the first pitch yaw signal and / or the first torque signal, the physical controller is debugged and / or the three-dimensional model of the wind turbine is adjusted.

[0012] In an optional embodiment, the adjustment data includes a second pitch yaw signal and / or a second torque signal after the three-dimensional model of the wind turbine is adjusted, and the step of debugging the physical controller and / or adjusting the three-dimensional model of the wind turbine based on the adjustment data and / or the first pitch yaw signal and the first torque signal includes:

[0013] comparing the first pitch yaw signal with the second pitch yaw signal;

[0014] and / or comparing the first torque signal with the second torque signal;

[0015] When the first pitch yaw signal is consistent with the second pitch yaw signal and / or when the first torque signal is consistent with the second torque signal, it is determined that there is no need to debug the physical controller and / or adjust the three-dimensional model of the wind turbine.

[0016] In an optional embodiment, the method further comprises:

[0017] When the first pitch-changing yaw signal is inconsistent with the second pitch-changing yaw signal, the physical controller is debugged and / or the three-dimensional model of the wind turbine is adjusted.

[0018] In an optional embodiment, the method further comprises:

[0019] When the first torque signal and the second torque signal are inconsistent, the physical controller is debugged and / or the three-dimensional model of the wind turbine is adjusted.

[0020] In a second aspect, an embodiment of the present application provides a simulation system for a three-dimensional model of a wind turbine, the system comprising: a real-time simulation machine, a physical controller, and a controller host computer;

[0021] The real-time simulation machine is connected to the physical controller via Ethernet communication;

[0022] The controller host computer is respectively connected to the real-time simulation machine and the physical controller for communication;

[0023] The real-time simulation machine is used to construct a three-dimensional model of the wind turbine, and send a wind load signal corresponding to the three-dimensional model of the wind turbine to the physical controller;

[0024] The physical controller is used to receive the wind-load signal, and process the wind-load signal to obtain a first pitch-changing yaw signal and / or a first torque signal of the wind turbine three-dimensional model, and send the first pitch-changing yaw signal and / or the first torque signal to the real-time simulator and the controller host computer;

[0025] The real-time simulation machine is also used to receive the first pitch yaw signal and / or the first torque signal, and adjust the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal, and determine the adjustment data of the adjusted three-dimensional model of the wind turbine, and send the adjustment data to the controller host computer;

[0026] The controller host computer debugs the physical controller and / or adjusts the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal and the adjustment data.

[0027] In an optional implementation manner, the real-time simulation machine is specifically used for:

[0028] Build multiple blades, multiple pitches, hubs, main bearings, generators, nacelles, yaws, and towers;

[0029] Configuring the kinematic relationship between the plurality of blades, the plurality of pitch blades, the hub, the main bearing, the generator, the nacelle, the yaw and the tower;

[0030] Configuring material properties of a plurality of blades, a plurality of pitches, a hub, a main bearing, a generator, a nacelle, a yaw, and a tower;

[0031] Constructing a three-dimensional model of the wind turbine based on the plurality of blades, the plurality of pitch blades, the hub, the main bearing, the generator, the nacelle, the yaw and the tower, the motion relationship and the material properties;

[0032] Wind field data is acquired, and the wind field data is used as a wind load signal of the three-dimensional model of the wind turbine.

[0033] In an optional implementation, the real-time simulation machine includes a first interface and a second interface, and the physical controller includes a third interface and a fourth interface;

[0034] Configuring the first interface to send the wind-carrying signal to the fourth interface;

[0035] The third interface is configured to send a first pitch yaw signal and a first torque signal of the three-dimensional model of the wind turbine to the second interface.

[0036] In a third aspect, an embodiment of the present application provides a simulation device for a three-dimensional model of a wind turbine, the device comprising:

[0037] An acquisition module, used for acquiring a three-dimensional model of a fan in a real-time simulation machine;

[0038] A determination module, used to determine a wind load signal corresponding to the three-dimensional model of the wind turbine;

[0039] The acquisition module is further used to acquire a first pitch yaw signal and / or a first torque signal of the three-dimensional model of the wind turbine sent by the physical controller, wherein the physical controller calculates the first pitch yaw signal and / or the first torque signal of the three-dimensional model of the wind turbine based on the wind load signal; and acquire adjustment data of the real-time simulator, wherein the adjustment data is obtained by adjusting the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal;

[0040] A debugging module is used to debug the physical controller and / or adjust the three-dimensional model of the wind turbine based on the adjustment data, the first pitch yaw signal and / or the first torque signal.

[0041] In a fourth aspect, an embodiment of the present application provides an electronic device for simulating a three-dimensional model of a wind turbine, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of a simulation method for the three-dimensional model of the wind turbine when executing the computer program.

[0042] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for simulating the three-dimensional model of the wind turbine.

[0043] This application has the following beneficial effects:

[0044] The present application obtains a three-dimensional model of the wind turbine in a real-time simulator, determines a wind-load signal corresponding to the three-dimensional model of the wind turbine, obtains a first pitch yaw signal and / or a first torque signal of the three-dimensional model of the wind turbine sent by a physical controller, wherein the physical controller calculates the first pitch yaw signal and / or the first torque signal of the three-dimensional model of the wind turbine based on the wind-load signal, obtains adjustment data of the real-time simulator, wherein the adjustment data is obtained by adjusting the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal, and debugs the physical controller and / or adjusts the three-dimensional model of the wind turbine based on the adjustment data, the first pitch yaw signal and / or the first torque signal. The present application realizes semi-physical simulation analysis of the three-dimensional entity simulation model of the wind turbine and the physical controller, taking into account the advantages of pure digital simulation and pure physical simulation, with high simulation accuracy reaching millisecond level, effectively ensuring the accuracy of the simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A block diagram of an electronic device provided in an embodiment of the present application;

[0047] Figure 2 One of the flow diagrams of a method for simulating a three-dimensional model of a wind turbine provided in an embodiment of the present application;

[0048] Figure 3 A second flow chart of a method for simulating a three-dimensional model of a wind turbine provided by an embodiment of the present invention;

[0049] Figure 4 A schematic diagram of the structure of a simulation system for a three-dimensional model of a wind turbine provided in an embodiment of the present invention;

[0050] Figure 5 A topological structure diagram of a three-dimensional model of a wind turbine provided in an embodiment of the present invention;

[0051] Figure 6 A schematic diagram of wind direction change and yaw angle change provided by an embodiment of the present invention;

[0052] Figure 7 A schematic diagram of the change of the blade angle provided by an embodiment of the present invention;

[0053] Figure 8 A schematic diagram of the change of wind turbine power and wind speed provided by an embodiment of the present invention;

[0054] Fig. 9 A schematic diagram of the deformation of the top of a wind turbine tower provided by an embodiment of the present invention;

[0055] Fig.10 A structural block diagram of a simulation device for a three-dimensional model of a wind turbine provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0057] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0058] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0059] In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, it is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the invention is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0060] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0061] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0062] After extensive research, the inventors found that in the prior art, the simulation of wind turbines usually adopts a test platform including an RT-LAB host computer and a real-time simulator. The real-time simulator is connected to the doubly fed wind turbine controller, and uses FPGA to run the physical model of the wind turbine main circuit to realize the hardware-in-the-loop simulation test of the doubly fed wind turbine controller, simulate the on-site test environment as much as possible and conduct multi-condition tests to realize the control effect and performance verification of the wind turbine controller.

[0063] The simulation model in the existing technology is a main circuit physical model, and the RT-LAB real-time simulation platform is used. The focus is on the hardware-in-the-loop test of the fan main circuit model. Without the participation of a three-dimensional solid model, it is impossible to give feedback on mechanical movement.

[0064] In view of the discovery of the above problems, the present embodiment provides a simulation method, system and related equipment for a three-dimensional model of a wind turbine, which can determine the wind load signal corresponding to the three-dimensional model of the wind turbine by acquiring the three-dimensional model of the wind turbine in the real-time simulator, and acquire the first pitch yaw signal and / or the first torque signal of the three-dimensional model of the wind turbine sent by the physical controller, wherein the physical controller calculates the first pitch yaw signal and / or the first torque signal of the three-dimensional model of the wind turbine based on the wind load signal, and acquires adjustment data of the real-time simulator, wherein the adjustment data is obtained by adjusting the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal, and debugs the physical controller and / or adjusts the three-dimensional model of the wind turbine based on the adjustment data, the first pitch yaw signal and / or the first torque signal. The present application realizes semi-physical simulation analysis of the three-dimensional entity simulation model of the wind turbine and the physical controller, taking into account the advantages of pure digital simulation and pure physical simulation, and has high simulation accuracy, which can reach the millisecond level, effectively ensuring the accuracy of the simulation. The scheme provided by the present embodiment is elaborated in detail below.

[0065] This embodiment provides an electronic device that can simulate a three-dimensional model of a wind turbine. In a possible implementation, the electronic device can be a user terminal, for example, the electronic device can be, but is not limited to, a workstation, a high-performance computer, a cloud computing platform, a server, a smart phone, a personal computer (PC), a tablet computer, a personal digital assistant (PDA), a mobile Internet device (MID), etc.

[0066] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of the structure of the electronic device 100 provided in the embodiment of the present application. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0067] The electronic device 100 includes a simulation device 110 for a three-dimensional model of a wind turbine, a memory 120 and a processor 130 .

[0068] The components of the memory 120 and the processor 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The simulation device 110 of the three-dimensional model of the wind turbine includes at least one software function module that can be stored in the memory 120 in the form of software or firmware or solidified in the operating system (OS) of the electronic device 100. The processor 130 is used to execute the executable modules stored in the memory 120, such as the software function modules and computer programs included in the simulation device 110 of the three-dimensional model of the wind turbine.

[0069] The memory 120 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 120 is used to store a program, and the processor 130 executes the program after receiving an execution instruction.

[0070] Please refer to Figure 2 , Figure 2 For application Figure 1 The present invention is a flow chart of a method for simulating a three-dimensional model of a wind turbine of an electronic device 100. The method including various steps is described in detail below.

[0071] S201: Acquire a three-dimensional model of a wind turbine in a real-time simulation machine.

[0072] S202: Determine a wind load signal corresponding to the three-dimensional model of the wind turbine.

[0073] It should be noted that the wind-load signal may be a wind-load signal collected from wind field data as a three-dimensional model of a wind turbine.

[0074] The wind-borne signals may include wind speed, wind direction, gusts, vertical wind shear, horizontal wind shear, wind non-uniformity, ambient temperature, air humidity, and wind pulsation.

[0075] S203: Acquire a first pitch yaw signal and / or a first torque signal of the three-dimensional model of the wind turbine sent by the physical controller.

[0076] The physical controller calculates the first pitch yaw signal and / or the first torque signal of the three-dimensional model of the wind turbine based on the wind load signal.

[0077] The physical controller calculates a first pitch signal and / or a first torque signal of the three-dimensional model of the wind turbine based on the wind load signal sent by the real-time simulator.

[0078] Wind power control strategies are usually divided into several stages, including the startup stage, the stage below rated power, and the stage above rated power.

[0079] During the startup phase: When the wind speed reaches the startup threshold, the 3D model of the wind turbine starts to operate.

[0080] Below rated power stage: When the wind speed is lower than the rated wind speed, energy capture is maximized mainly by adjusting the torque of the three-dimensional model of the wind turbine.

[0081] Above rated power stage: When the wind speed exceeds the rated wind speed, the power output is limited mainly by adjusting the pitch angle of the three-dimensional model of the wind turbine to prevent overload.

[0082] The first torque signal is calculated by acquiring the rotation speed and rated rotation speed of the motor of the three-dimensional model of the wind turbine and the wind load signal.

[0083] The calculation of the torque signal mainly depends on the wind speed and the generator speed, with the goal of maximizing energy capture at different wind speeds while ensuring the safety of the mechanical system.

[0084] The calculation formula of the first torque is:

[0085] The first torque signal=proportional coefficient*(current generator speed−engine rated speed), wherein the proportional coefficient is determined according to the characteristics of the three-dimensional model of the wind turbine.

[0086] When the wind speed exceeds the rated wind speed, the power output is limited by adjusting the pitch angle to protect the wind turbine.

[0087] The first pitch yaw signal = f (current power output, current wind speed), where (f) is a function determined based on the three-dimensional model characteristics and control strategy of the wind turbine.

[0088] S204: Acquire adjustment data of the real-time simulation machine.

[0089] The adjustment data is obtained by adjusting the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal.

[0090] The real-time simulator adjusts the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal sent by the physical controller, and obtains adjustment data of the three-dimensional model of the wind turbine after adjustment compared with the three-dimensional model of the wind turbine before adjustment.

[0091] S205: Based on the adjustment data, the first pitch control yaw signal and / or the first torque signal, debug the physical controller and / or adjust the three-dimensional model of the wind turbine.

[0092] Exemplarily, the physical controller may be debugged and / or the three-dimensional model of the wind turbine may be adjusted based on the adjustment data and the first pitch and yaw signal.

[0093] The physical controller may be debugged and / or the three-dimensional model of the wind turbine may be adjusted based on the adjustment data and the first torque signal.

[0094] The physical controller may be debugged and / or the three-dimensional model of the wind turbine may be adjusted based on the adjustment data, the first torque signal, and the first pitch yaw signal.

[0095] Based on the adjustment data, the first pitch yaw signal and / or the first torque signal, the physical controller may be debugged, or the three-dimensional model of the wind turbine may be adjusted, or the physical controller may be debugged and the three-dimensional model of the wind turbine may be adjusted at the same time.

[0096] There are many implementations for debugging the physical controller and / or adjusting the three-dimensional model of the wind turbine based on the adjustment data and / or the first pitch yaw signal and the first torque signal. In one implementation, Figure 3 As shown, the following steps are included:

[0097] When the adjustment data includes the second pitch yaw signal and / or the second torque signal after the three-dimensional model of the wind turbine is adjusted, the manner of debugging the physical controller and / or adjusting the three-dimensional model of the wind turbine based on the adjustment data and / or the first pitch yaw signal and the first torque signal is as follows:

[0098] S301: Compare the first pitch control yaw signal with the second pitch control yaw signal.

[0099] S302: and / or compare the first torque signal with the second torque signal.

[0100] S303: When the first pitch yaw signal is consistent with the second pitch yaw signal and / or when the first torque signal is consistent with the second torque signal, it is determined that there is no need to debug the physical controller and / or adjust the three-dimensional model of the wind turbine.

[0101] When the first pitch-changing yaw signal is inconsistent with the second pitch-changing yaw signal, the physical controller is debugged and / or the three-dimensional model of the wind turbine is adjusted.

[0102] When the first torque signal and the second torque signal are inconsistent, the physical controller is debugged and / or the three-dimensional model of the wind turbine is adjusted.

[0103] For example, the constructed three-dimensional model of the wind turbine may be established based on theoretical or ideal conditions, which may differ from the performance of the actual wind turbine. According to the adjustment data, the first pitch yaw signal and / or the first torque signal, the three-dimensional model parameters of the wind turbine are calibrated, such as blade characteristics, generator efficiency, transmission chain loss, etc.

[0104] If the simulation accuracy is insufficient based on the adjustment data, the first pitch yaw signal and / or the first torque signal, it is determined that the existing three-dimensional model of the wind turbine cannot accurately simulate the dynamic behavior of the wind turbine, resulting in a large deviation between the simulation results and the actual operating data, and the three-dimensional model of the wind turbine needs to be adjusted.

[0105] Exemplarily, based on the adjustment data, the first pitch yaw signal and / or the first torque signal, it is determined that the control strategy is not good. The initial control strategy may be based on theoretical assumptions and performs poorly in actual operation. In this case, the physical controller needs to be debugged, such as debugging the proportional, integral, and calculus coefficients of the physical controller.

[0106] When it is determined based on the adjustment data, the first pitch yaw signal and / or the first torque signal that the wind speed changes frequently, the optimization algorithm of the physical controller is debugged, and a predictive control or adaptive control strategy is introduced to improve the response speed and robustness of the physical controller.

[0107] When it is determined that the power fluctuation is large based on the adjustment data, the first pitch yaw signal and / or the first torque signal, the physical controller needs to be debugged. The power control strategy of the physical controller can be adjusted, such as introducing an energy storage system or optimizing the pitch control logic to reduce power fluctuations.

[0108] like Figure 4 As shown, the simulation system of the three-dimensional model of the wind turbine includes: a real-time simulation machine 1, a physical controller 2 and a controller host computer 3;

[0109] The real-time simulation machine 1 is connected to the physical controller 2 via Ethernet communication; the controller host computer 3 is respectively connected to the real-time simulation machine 1 and the physical controller 2; the real-time simulation machine 1 is used to construct a three-dimensional model of the wind turbine, and send the wind-load signal corresponding to the three-dimensional model of the wind turbine to the physical controller 2; the physical controller 2 is used to receive the wind-load signal, and process the wind-load signal to obtain a first pitch yaw signal and / or a first torque signal of the three-dimensional model of the wind turbine, and send the first pitch yaw signal and / or the first torque signal to the real-time simulation machine 1 and the physical controller 2; The simulator 1 and the controller host computer 3; the real-time simulator 1 is also used to receive the first pitch yaw signal and / or the first torque signal, and adjust the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal, and determine the adjustment data of the adjusted three-dimensional model of the wind turbine, and send the adjustment data to the controller host computer 3; the controller host computer 3 debugs the physical controller 2 and / or adjusts the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal and the adjustment data.

[0110] The real-time simulation machine establishes a three-dimensional model of the wind turbine in the simpack software and defines the motion relationship between each component. The three-dimensional model of the wind turbine includes multiple blades, multiple pitches, hubs, main bearings, generators, nacelles, yaws and towers. The motion relationship of multiple blades, multiple pitches, hubs, main bearings, generators, nacelles, yaws and towers is configured, and the material properties of multiple blades, multiple pitches, hubs, main bearings, generators, nacelles, yaws and towers are configured. Based on multiple blades, multiple pitches, hubs, main bearings, generators, nacelles, yaws and towers, the three-dimensional model of the wind turbine is constructed; wind field data is obtained and used as the wind load signal of the three-dimensional model of the wind turbine.

[0111] like Figure 5 As shown, it is the topological diagram of each component of the three-dimensional model of the wind turbine.

[0112] Still refer to Figure 4 The real-time simulation machine 1 includes a first interface 11 and a second interface 12 , and the physical controller 2 includes a third interface 21 and a fourth interface 22 . Figure 4 The first interface is the AO interface of the real-time simulator 1, the second interface is the AI ​​interface, the third interface is the AO interface of the physical controller, and the fourth interface is the AI ​​interface of the physical controller. The first interface is configured to send a wind load signal to the fourth interface, and the third interface is configured to send a first pitch yaw signal and a first torque signal of the three-dimensional model of the wind turbine to the second interface.

[0113] According to the requirements of the physical controller, the input and output signal parameters and quantity can be determined, and the input and output signals in the three-dimensional model of the fan can be named. Then the three-dimensional model of the fan can be imported into the real-time simulation machine to define the order of input and output signals. The order of the signals must be consistent with the physical controller to ensure the accuracy of signal transmission.

[0114] Determine the type, location and number of I / O interfaces between the physical controller and the real-time simulator, and configure the communication protocol according to the I / O interface to achieve data communication between the real-time simulator and the physical controller of the wind turbine. The three-dimensional model of the wind turbine is mainly a three-dimensional solid model of the wind turbine machinery established in the simpack software. Update the material properties, apply fixed and rotating pairs between the components, create a bearing force matrix, and establish a wind model and a blade aerodynamic model. The wind turbine is mainly composed of three blades, a hub, a pitch system, a main bearing, a generator, a nacelle, a yaw system and a tower. Configure the IP address and port of the real-time simulator and the physical controller. The IPs of both need to be set on the same network segment to facilitate data transmission.

[0115] Conduct semi-physical simulation of the three-dimensional model of the wind turbine under multiple wind conditions, perform data status monitoring on the host computer of the wind turbine physical controller, and mutually verify the status of the three-dimensional solid simulation model of the wind turbine on the real-time simulator to reflect the actual motion status of each component of the wind turbine in real time, verify the effectiveness of the control strategy and the reliability of the simulation model, and analyze the dynamic response of the wind turbine components, such as displacement, velocity, acceleration, deformation and load.

[0116] In order to verify the correctness of the proposed simulation method of a three-dimensional model of a wind turbine, the yaw and pitch response characteristics of the three-dimensional model of the wind turbine are tested as a practical application. In the simulation test, the wind speed changes from cut-in to cut-out within 10 seconds, and the wind direction changes. Figure 6 This is a schematic diagram of wind direction change and yaw angle change. Figure 7 is a schematic diagram of the change of pitch angle. Figure 8 This is a schematic diagram of the change of wind turbine power and wind speed. Fig. 9 It is a schematic diagram of the deformation of the top of the wind turbine tower. It can be seen from the above figures that when the wind direction changes, the wind turbine yaws; when the wind speed changes from cut-in to rated, the wind turbine does not change the propeller. When the wind speed reaches the rated wind speed, the propeller angle reaches the optimal state, and the power is about to enter the full power state. When the wind speed changes from rated to cut-out, the propeller angle changes, and then remains constant, which is consistent with expectations. The results show that the simulation method of the three-dimensional model of the wind turbine provided in this application can effectively verify the control performance of the physical controller of the wind turbine, and can analyze the state response of the wind turbine components, such as displacement, velocity, acceleration, deformation and load.

[0117] Please refer to Fig.10 The present application embodiment also provides an application Figure 1The simulation device 110 of the three-dimensional model of the wind turbine of the electronic device 100 includes:

[0118] An acquisition module 111 is used to acquire a three-dimensional model of the wind turbine in a real-time simulation machine;

[0119] A determination module 112, configured to determine a wind load signal corresponding to the three-dimensional model of the wind turbine;

[0120] The acquisition module 111 is further used to acquire a first pitch yaw signal and / or a first torque signal of the three-dimensional model of the wind turbine sent by the physical controller, wherein the physical controller calculates the first pitch yaw signal and / or the first torque signal of the three-dimensional model of the wind turbine based on the wind load signal; and acquire adjustment data of the real-time simulator, wherein the adjustment data is obtained by adjusting the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal;

[0121] The debugging module 113 is used to debug the physical controller and / or adjust the three-dimensional model of the wind turbine based on the adjustment data, the first pitch yaw signal and / or the first torque signal.

[0122] The present application also provides an electronic device 100, which includes a processor 130 and a memory 120. The memory 120 stores computer executable instructions, and when the computer executable instructions are executed by the processor 130, a simulation method of the three-dimensional model of the wind turbine is implemented.

[0123] The embodiment of the present application further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by the processor 130, a simulation method of the three-dimensional model of the wind turbine is implemented.

[0124] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0125] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk.

[0126] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0127] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for simulating a three-dimensional model of a wind turbine, characterized in that: The method comprises: Obtain a three-dimensional model of the fan in the real-time simulator; Determining a wind load signal corresponding to the three-dimensional model of the wind turbine; Acquire a first pitch yaw signal and / or a first torque signal of the three-dimensional model of the wind turbine sent by a physical controller, wherein the physical controller calculates the first pitch yaw signal and / or the first torque signal of the three-dimensional model of the wind turbine based on the wind load signal; Acquiring adjustment data of a real-time simulator, wherein the adjustment data is obtained by adjusting the three-dimensional model of the wind turbine based on the first variable pitch yaw signal and / or the first torque signal; Based on the adjustment data, the first pitch yaw signal and / or the first torque signal, the physical controller is debugged and / or the three-dimensional model of the wind turbine is adjusted.

2. The method according to claim 1, characterized in that The adjustment data includes a second pitch yaw signal and / or a second torque signal after the three-dimensional model of the wind turbine is adjusted. The step of debugging the physical controller and / or adjusting the three-dimensional model of the wind turbine based on the adjustment data and / or the first pitch yaw signal and the first torque signal includes: comparing the first pitch yaw signal with the second pitch yaw signal; and / or comparing the first torque signal with the second torque signal; When the first pitch yaw signal is consistent with the second pitch yaw signal and / or when the first torque signal is consistent with the second torque signal, it is determined that there is no need to debug the physical controller and / or adjust the three-dimensional model of the wind turbine.

3. The method according to claim 2, characterized in that The method further comprises: When the first pitch-changing yaw signal is inconsistent with the second pitch-changing yaw signal, the physical controller is debugged and / or the three-dimensional model of the wind turbine is adjusted.

4. The method according to claim 2, characterized in that: The method further comprises: When the first torque signal and the second torque signal are inconsistent, the physical controller is debugged and / or the three-dimensional model of the wind turbine is adjusted.

5. A simulation system for a three-dimensional model of a wind turbine, characterized in that: The system comprises: a real-time simulator, a physical controller and a controller host computer; The real-time simulation machine is connected to the physical controller via Ethernet communication; The controller host computer is respectively connected to the real-time simulation machine and the physical controller for communication; The real-time simulation machine is used to construct a three-dimensional model of the wind turbine, and send a wind load signal corresponding to the three-dimensional model of the wind turbine to the physical controller; The physical controller is used to receive the wind-load signal, and process the wind-load signal to obtain a first pitch-changing yaw signal and / or a first torque signal of the wind turbine three-dimensional model, and send the first yaw pitch-changing signal and / or the first torque signal to the real-time simulator and the controller host computer; The real-time simulation machine is also used to receive the first pitch yaw signal and / or the first torque signal, and adjust the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal, and determine the adjustment data of the adjusted three-dimensional model of the wind turbine, and send the adjustment data to the controller host computer; The controller host computer debugs the physical controller and / or adjusts the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal and the adjustment data.

6. The system according to claim 5, characterized in that The real-time simulation machine is specifically used for: Build multiple blades, multiple pitches, hubs, main bearings, generators, nacelles, yaws, and towers; Configuring the kinematic relationship between the plurality of blades, the plurality of pitch blades, the hub, the main bearing, the generator, the nacelle, the yaw and the tower; Configuring material properties of a plurality of blades, a plurality of pitches, a hub, a main bearing, a generator, a nacelle, a yaw, and a tower; Constructing a three-dimensional model of the wind turbine based on the plurality of blades, the plurality of pitch blades, the hub, the main bearing, the generator, the nacelle, the yaw and the tower, the motion relationship and the material properties; Wind field data is acquired, and the wind field data is used as a wind load signal of the three-dimensional model of the wind turbine.

7. The system according to claim 5, characterized in that The real-time simulation machine includes a first interface and a second interface, and the physical controller includes a third interface and a fourth interface; Configuring the first interface to send the wind-carrying signal to the fourth interface; The third interface is configured to send a first pitch yaw signal and a first torque signal of the three-dimensional model of the wind turbine to the second interface.

8. A simulation device for a three-dimensional model of a wind turbine, characterized in that: The device comprises: An acquisition module, used for acquiring a three-dimensional model of a fan in a real-time simulation machine; A determination module, used to determine a wind load signal corresponding to the three-dimensional model of the wind turbine; The acquisition module is further used to acquire a first pitch yaw signal and / or a first torque signal of the three-dimensional model of the wind turbine sent by the physical controller, wherein the physical controller calculates the first pitch yaw signal and / or the first torque signal of the three-dimensional model of the wind turbine based on the wind load signal; and acquire adjustment data of the real-time simulator, wherein the adjustment data is obtained by adjusting the three-dimensional model of the wind turbine based on the first pitch yaw signal and / or the first torque signal; A debugging module is used to debug the physical controller and / or adjust the three-dimensional model of the wind turbine based on the adjustment data, the first pitch yaw signal and / or the first torque signal.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 4 when executing the computer program.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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