Transmission chain test system control mode switching method, device, equipment and medium

Abstract

The invention discloses a transmission chain test system control mode switching method and device, equipment and a medium, and belongs to the technical field of wind turbine generator testing. In order to solve the problem of evaluation deviation in the prior art, a real-time simulation model of a tested unit is constructed, and a rotating speed control mode and a torque control mode of a dragging system are dynamically switched by combining a generator torque instruction, a grid-connected flag bit, a shutdown instruction flag bit and a multi-dimensional criterion of a simulation rotating speed. In a torque control mode, a damping compensation value and a rotating speed protection compensation value are introduced to suppress mechanical oscillation, and a low-frequency oscillation component is eliminated through notch filtering and band-pass filtering algorithms, so that accurate reproduction of dynamic characteristics of a transmission chain is realized. The problem of coupling instability of the tested unit and the dragging system is effectively solved, the authenticity of the test working condition, the scene diversity and the stability of the test platform are improved, and reliable technical support is provided for type authentication and dynamic characteristic verification of the large wind turbine generator.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind turbine testing, and in particular relates to a control mode switching method, device, equipment and medium for a transmission chain testing system. Background Art

[0002] As the capacity and scale of wind turbines continue to increase, the difficulty and cost of type certification and testing have increased accordingly. In recent years, in order to achieve factory testing and basic function verification of large-capacity units, domestic and foreign equipment manufacturers and research institutions have established transmission chain test platforms to conduct mechanical load and partial electrical performance tests on key components or subsystems. To verify the mechanical transmission characteristics of the wind turbine under test, the drive speed and applied torque of the transmission chain must meet the actual working conditions or equivalent working conditions in order to achieve the purpose of load testing of key components; and to verify the electrical characteristics, it is also necessary to consider the torque changes of the wind turbine under different grid conditions, the coupling effect of the drive system and the wind turbine under test, and other issues.

[0003] At present, in order to achieve the above verification and testing, the control of the transmission chain platform mostly adopts an open-loop control method in which the traction system has a fixed speed and applies torque to the wind turbine under test. The speed of this control method is given according to the design curve of the wind turbine under test, which will produce an evaluation deviation from the actual unit characteristics. Summary of the invention

[0004] The purpose of the present invention is to provide a control mode switching method, device, equipment and medium for a transmission chain test system to solve the problem in the prior art that the speed is given according to the design curve of the wind turbine set being tested, which will produce an evaluation deviation from the actual unit characteristics.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: In a first aspect, the present invention provides a control mode switching method for a transmission chain test system, comprising: Determine the real-time simulation model of the wind turbine under test in the real-time simulation system; Obtain the simulated rotation speed of the real-time simulation model under the preset wind speed conditions; Obtain the generator torque command, grid connection flag and shutdown command flag of the wind turbine under test; The control mode of the traction system is determined based on the generator torque command, the grid connection flag, the shutdown command flag, the simulated speed and the preset generator torque threshold; wherein the traction system is used to drive the wind turbine under test to operate according to the determined control mode, and the control mode includes a speed control mode and a torque control mode.

[0006] Furthermore, according to the generator torque command, the grid connection flag, the shutdown command flag, the simulation speed and the preset generator torque threshold, the control mode of the traction system is determined, including: When the real-time simulation model starts running under the preset wind speed conditions, the grid-connected flag and the shutdown command flag are both invalid; the control mode of the traction system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed; If the speed of the drive system rises to the grid-connected speed of the wind turbine under test, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is less than the generator torque threshold; determine that the control mode of the drive system is the speed control mode, and the speed command of the speed control mode is the simulation speed; If the speed of the drive system is greater than the grid-connected speed of the wind turbine under test, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is greater than or equal to the generator torque threshold; determine that the control mode of the drive system is the torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value, the speed protection compensation value and the wind rotor low-speed shaft torque of the real-time simulation model; If the speed of the drive system is maintained within the grid-connected speed range of the wind turbine being tested, and the grid-connected flag is valid, the shutdown command flag is valid; determine that the control mode of the drive system is the torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value and the wind rotor low-speed shaft torque of the real-time simulation model; If the speed of the traction system is reduced to the grid-connected speed of the wind turbine under test, and the grid-connected flag is invalid, the shutdown command flag is valid; determine that the control mode of the traction system is the speed control mode, and the speed command of the speed control mode is the simulation speed of the real-time simulation model.

[0007] Furthermore, the speed protection compensation value is expressed as:

[0008] In the formula, is the speed protection compensation value, K ratio is the proportional coefficient of the speed error, E w Indicates the preset speed error, is the actual speed of the drag system, Simulated speed of the real-time simulation model.

[0009] Furthermore, when the drive system is in the torque control mode and the speed and / or torque of the drive system oscillates at a low frequency, the torque command of the drive system is updated according to the following formula:

[0010] In the formula, is the updated torque command of the drag system, is the torque command of the drag system before updating, T D is the torque of resistance control, , They are respectively the notch filter function and the bandpass filter function related to the actual speed of the drag system. is the actual speed of the drag system.

[0011] Furthermore, when the dragging system drags the wind turbine set under test according to the determined control mode, the real-time rotation speed of the wind turbine set under test is obtained; When the real-time speed of the wind turbine under test exceeds the speed threshold, the control mode of the drive system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed.

[0012] Furthermore, when the driving system drives the wind turbine set under test to operate according to the determined control mode, it also obtains the generator torque instruction of the wind turbine set under test; When the generator torque command of the wind turbine under test exceeds the preset boundary threshold, the torque command of the drive system is controlled to remain unchanged so that the drive system maintains the limit output.

[0013] In a second aspect of the present invention, a control mode switching device for a transmission chain test system is provided, comprising: A simulation module, used for determining a real-time simulation model of a wind turbine under test in a real-time simulation system; A first acquisition module is used to acquire a simulated rotation speed of a real-time simulation model under a preset wind speed condition; The second acquisition module is used to obtain the generator torque command, grid connection flag and shutdown command flag of the wind turbine set under test; The control mode switching module is used to determine the control mode of the traction system based on the generator torque command, the grid connection flag, the shutdown command flag, the simulation speed and the preset generator torque threshold; wherein the traction system is used to drag the wind turbine under test to operate according to the determined control mode, and the control mode includes a speed control mode and a torque control mode.

[0014] Furthermore, the control mode switching module is specifically used for: When the real-time simulation model starts running under the preset wind speed conditions, the grid-connected flag and the shutdown command flag are both invalid; the control mode of the traction system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed; If the speed of the drive system rises to the grid-connected speed of the wind turbine under test, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is less than the generator torque threshold; determine that the control mode of the drive system is the speed control mode, and the speed command of the speed control mode is the simulation speed; If the speed of the drive system is greater than the grid-connected speed of the wind turbine under test, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is greater than or equal to the generator torque threshold; determine that the control mode of the drive system is the torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value, the speed protection compensation value and the wind rotor low-speed shaft torque of the real-time simulation model; If the speed of the drive system is maintained within the grid-connected speed range of the wind turbine being tested, and the grid-connected flag is valid, the shutdown command flag is valid; determine that the control mode of the drive system is the torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value and the wind rotor low-speed shaft torque of the real-time simulation model; If the speed of the traction system is reduced to the grid-connected speed of the wind turbine under test, and the grid-connected flag is invalid, the shutdown command flag is valid; determine that the control mode of the traction system is the speed control mode, and the speed command of the speed control mode is the simulation speed of the real-time simulation model.

[0015] According to a third aspect of the present invention, there is provided an electronic device, comprising a processor and a memory, wherein the processor is configured to execute a computer program stored in the memory to implement the above-mentioned control mode switching method of the transmission chain test system.

[0016] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the control mode switching method of the transmission chain test system as described above is implemented.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This solution realizes the intelligent switching between the speed control mode and the torque control mode of the drive system through the multi-dimensional joint judgment of the simulation speed of the real-time simulation model, the generator torque command of the unit under test, the grid-connected flag and the shutdown command flag. Under all working conditions such as unit startup, grid-connected power generation, power regulation and shutdown protection, it can accurately match the dynamic requirements of the control system of the unit under test, so that the test conditions of the mechanical load and electrical response of the transmission chain are highly consistent with the actual wind farm operating conditions, thereby improving the authenticity of the test results.

[0018] In the torque control mode, by introducing the damping compensation value and the speed protection compensation value, the mechanical oscillation between the drive system and the unit under test can be suppressed, and the system instability problem caused by the accumulation of speed deviation can be solved. Among them, the speed protection compensation value is dynamically adjusted based on the real-time speed error to form a closed-loop speed protection mechanism, so that the speed fluctuation during the test is strictly limited to the preset error band.

[0019] When the traction system is in torque control mode, the low-frequency oscillation components of the speed and torque are detected and eliminated in real time through an adaptive algorithm that combines notch filtering and bandpass filtering with resistance control, breaking through the limitation of traditional open-loop control that is sensitive to resonant frequency and improving the dynamic response performance of the high-inertia transmission chain test system.

[0020] By real-time monitoring of the speed of the unit under test and the torque command of the generator, when the speed exceeds the limit or the torque command goes beyond the limit, it immediately switches to the speed control mode or locks the torque output limit to prevent the unit under test from being damaged due to overload or loss of control. The protection mechanism works in synergy with the wind speed conditions of the real-time simulation model to achieve full-condition safety boundary protection during the test process.

[0021] This solution can quickly adapt to the testing requirements of wind turbines of different capacities and models by parameterizing the configuration of key parameters such as the generator torque threshold and the speed error proportional coefficient. It solves the problem of rigid control strategy and poor portability of traditional transmission chain test systems, and significantly reduces the transformation cost and debugging cycle of the test platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 A flow chart of a control mode switching method of a transmission chain test system according to an embodiment of the present invention; Figure 2 This is a diagram of the transmission chain test system architecture in an embodiment of the present invention; Figure 3 This is a control mode switching flow chart in an embodiment of the present invention; Figure 4 This is a structural block diagram of a control mode switching device for a transmission chain test system according to an embodiment of the present invention; Figure 5 The present invention is a structural block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0024] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0025] Example 1 In order to test and verify the operating characteristics of large wind turbines, the full-size transmission chain ground test platform in the existing technology adopts a constant speed control mode to drag the wind turbine under test, and achieves stable operation of the unit through an open-loop given torque method. Under this control mode, the control system function of the wind turbine under test is difficult to be fully put into use, and the power change obtained from the test is independent of wind speed fluctuations. It cannot meet the testing requirements under variable wind conditions and complex power grid conditions, and may cause evaluation deviations from actual characteristics.

[0026] In order to solve the above problem, an embodiment of the present invention provides a control mode switching method of a transmission chain test system, comprising the following steps: S1. Determine the real-time simulation model of the wind turbine to be tested in the real-time simulation system; S2, obtaining the simulated rotation speed of the real-time simulation model under the preset wind speed condition; S3, obtaining the generator torque command, grid connection flag and shutdown command flag of the wind turbine set under test; S4. Determine the control mode of the traction system according to the generator torque command, the grid connection flag, the shutdown command flag, the simulated speed and the preset generator torque threshold; wherein the traction system is used to drive the wind turbine under test to operate according to the determined control mode, and the control mode includes a speed control mode and a torque control mode.

[0027] Through the above scheme, during the transmission chain test process, the real-time simulation system is used to realize the accompanying operation of the real-time simulation model of the wind turbine being tested, and the platform control system realizes the closed-loop control of the mechanical hardware in the loop by controlling the drag system. The transmission chain test system control mode switching method proposed in the present invention can realize the switching between the speed control mode and the torque control mode of the drag system, so that the mechanical and electrical characteristics of the transmission chain of the wind turbine being tested are closer to the actual situation.

[0028] It should be noted that the method of the present invention is implemented based on a transmission chain test system. Figure 2 As shown, the transmission chain test system may include a drag system, a hydraulic loading system, a platform control system, a real-time simulation system, etc. The drag system, the hydraulic loading system, the platform control system, and the real-time simulation system exchange data through a communication protocol.

[0029] The real-time simulation system is used to build a real-time simulation model of the wind turbine under test based on professional design software. The real-time simulation model has a complete mechanical structure, mainly including impellers, main shafts, gearboxes, towers and generators; the real-time simulation model includes wind and wave environment simulation, aerodynamic characteristics simulation, and yaw and pitch basic dynamic characteristics simulation. The input conditions of the real-time simulation model may include: wind speed conditions, pitch angle instructions and generator torque instructions; the output signals of the real-time simulation model may include: wind speed, pitch angle, non-axial load, wind rotor speed and axial / speed torque, tower vibration acceleration, etc.

[0030] The platform control system includes a main control condition configuration subsystem, a model condition configuration subsystem and a logic control subsystem. The main control condition configuration subsystem is used to configure the external conditions required for the operation of the main control system of the wind turbine under test. The external conditions include external environmental information, pitch mechanism communication and tower vibration communication; wherein, the external environmental information refers to: transmitting the preset wind speed conditions obtained by the real-time simulation model to the wind turbine under test, so that the wind turbine under test can sense the current wind conditions; the pitch mechanism communication refers to: according to the actual communication protocol, realizing the data interaction of the pitch angle instructions and operation status feedback between the wind turbine under test and the real-time simulation model; the tower vibration communication refers to: according to the actual communication protocol, transmitting the tower vibration acceleration of the collected real-time simulation model to the wind turbine under test. The model condition configuration subsystem is used to control the real-time changes of environmental parameters. By changing external conditions such as average wind speed, turbulence and wave height, the test conditions of the real-time simulation model can be modified in real time. As an example, the model condition configuration subsystem in this scheme sets the wind speed conditions of the real-time simulation model. The logic control subsystem is mainly used for control mode switching, axial variable threshold control and axial torque resistance control.

[0031] The dragging system is used to drag the wind turbine under test to operate according to the control mode and control instructions. The control mode of the dragging system includes a speed control mode and a torque control mode, and the corresponding control instructions are a speed instruction and a torque instruction respectively.

[0032] The hydraulic loading system is used to apply force to the wind turbine under test so that the force state of the wind turbine under test is consistent with the force state of the real-time simulation model. The force of the hydraulic loading system may include Fx, Fy, Fz, Mx and My, which are the forces in the X, Y and Z directions, and the moments around the X and Y directions.

[0033] In an optional embodiment, when the towing system, hydraulic loading system and the wind turbine to be measured are in standby state, the real-time simulation system and the real-time simulation model are run. The external environment information, pitch mechanism communication and tower vibration communication configuration of the wind turbine to be measured are completed through the main control condition configuration subsystem. The preset wind speed conditions of the real-time simulation model are configured through the model condition configuration subsystem, and the preset wind speed conditions of the real-time simulation model are transmitted to the wind turbine to be measured. The main control system of the wind turbine to be measured enters the startup state, after which the pitch angle command of the real-time simulation model gradually decreases, and the speed of the real-time simulation model gradually increases; the logic control subsystem controls the towing system to adopt the speed control mode in the initial state, and sends the simulation speed of the real-time simulation model to the towing system as the speed command; when the control mode switching condition is met, the logic control subsystem switches the control mode; and the logic control subsystem uses the axial variable threshold control and the axial torque resistance control to protect the operation state of the wind turbine to be measured.

[0034] The method of the present invention is described in further detail below.

[0035] like Figure 1 As shown, a control mode switching method for a transmission chain test system includes the following steps: S10. Determine a real-time simulation model of the wind turbine under test in the real-time simulation system.

[0036] It should be noted that the real-time simulation model of the wind turbine under test is constructed in the real-time simulation system.

[0037] S20, obtaining a simulated rotation speed of the real-time simulation model under a preset wind speed condition.

[0038] It should be noted that the present solution constructs a real-time simulation model in the real-time simulation system. After the preset wind speed conditions are input into the real-time simulation model, the real-time simulation model starts running, at which time the simulated rotation speed can be obtained.

[0039] S30, obtaining the generator torque command, grid connection flag and shutdown command flag of the wind turbine set under test.

[0040] In one embodiment, the generator torque command of the measured wind turbine is calculated based on the rotational speed of the measured wind turbine.

[0041] In one embodiment, the grid-connected flag detected by the wind turbine under test is set as B1, and the shutdown command flag is set as B2; when the grid-connected flag B1=0, it indicates that the grid-connected flag is invalid, that is, the wind turbine under test is off the grid; when the grid-connected flag B1=1, it indicates that the grid-connected flag is valid, that is, the wind turbine under test is connected to the grid; when the shutdown command flag B2=0, it indicates that the shutdown command flag is invalid, that is, the shutdown command has not been received; when the shutdown command flag B2=1, it indicates that the shutdown command flag is valid, that is, the shutdown command has been received.

[0042] S40. Determine the control mode of the traction system according to the generator torque command, the grid connection flag, the shutdown command flag, the simulated speed and the preset generator torque threshold; wherein the traction system is used to drive the wind turbine under test to operate according to the determined control mode, and the control mode includes a speed control mode and a torque control mode.

[0043] In one embodiment, step S40 specifically includes: S401, when the real-time simulation model starts running under the preset wind speed condition, the grid connection flag and the shutdown command flag are both invalid, and the control mode of the traction system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed; S402, if the speed of the drive system rises to the grid-connected speed of the wind turbine under test, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is less than the generator torque threshold, it is determined that the control mode of the drive system is the speed control mode, and the speed command of the speed control mode is the simulation speed; S403, if the speed of the drive system is greater than the grid-connected speed of the wind turbine being tested, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is greater than or equal to the generator torque threshold, it is determined that the control mode of the drive system is the torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value, the speed protection compensation value, and the wind rotor low-speed shaft torque of the real-time simulation model; S404: If the speed of the drive system is maintained within the grid-connected speed range of the wind turbine being tested, and the grid-connected flag is valid and the shutdown command flag is valid, it is determined that the control mode of the drive system is the torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value and the wind rotor low-speed shaft torque of the real-time simulation model; S405. If the speed of the traction system is reduced to the grid-connected speed of the wind turbine under test, and the grid-connected flag is invalid, and the shutdown command flag is valid, it is determined that the control mode of the traction system is the speed control mode, and the speed command of the speed control mode is the simulation speed of the real-time simulation model.

[0044] Specifically, in step S403, the speed protection compensation value is expressed as:

[0045] In the formula, is the speed protection compensation value, K ratio is the proportional coefficient of the speed error, E w Indicates the preset speed error, is the actual speed of the drag system, Simulated speed of the real-time simulation model.

[0046] Specifically, in the above steps S402 to S404, when the drive system is in the torque control mode and the speed and / or torque of the drive system oscillates at a low frequency, the resistance control can be manually triggered to update the torque command of the drive system according to the following formula:

[0047] In the formula, is the updated torque command of the drag system, is the torque command of the drag system before updating, T D is the torque of resistance control, , They are respectively the notch filter function and the bandpass filter function related to the actual speed of the drag system. is the actual speed of the drag system.

[0048] Specifically, in the above steps S401~S405, when the traction system drags the wind turbine under test according to the determined control mode (such as torque control mode), the real-time speed of the wind turbine under test is obtained; when the real-time speed of the wind turbine under test exceeds the speed threshold, the control mode of the traction system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed.

[0049] Specifically, in the above steps S401 to S405, when the drive system drives the wind turbine set under test according to the determined control mode, the generator torque command of the wind turbine set under test is also obtained; when the generator torque command of the wind turbine set under test exceeds the preset boundary threshold, the drive system is made to maintain the limit output according to its current torque command; when , , When any one or more of the constant value outputs exceeds the preset time, a shutdown is triggered. At this time, the shutdown command flag is valid, and the shutdown command flag B2=1.

[0050] In an optional embodiment, if Figure 3 As shown, step S40 may also include the following steps: S411, set the speed command of the drag system to be expressed as , the actual speed is expressed as , the torque command is expressed as The speed of the real-time simulation model is set to The low-speed shaft torque of the wind wheel in the real-time simulation model is expressed as The generator torque command of the wind turbine under test is expressed as .

[0051] S412, in the initial state, if the grid-connected flag bit B1 = 0, the shutdown command flag bit B2 = 0, the control mode of the drive system is the speed control mode, and the speed command is the simulation speed of the real-time simulation model ; S413, the speed of the drive system gradually increases to meet the grid-connected speed requirements of the wind turbine being tested. If the grid-connected flag bit B1 = 1, the shutdown command flag bit B2 = 0, and the generator torque command of the wind turbine being tested Less than the generator torque threshold (0.1 pu , pu represents the per unit value), that is ; The control mode of the drag system is the speed control mode, and the speed command is the simulation speed of the real-time simulation model ; S414, the speed of the drive system continues to rise, and the torque of the wind turbine being tested gradually increases. If the grid-connected flag bit B1 = 1, the shutdown command flag bit B2 = 0, and the generator torque command of the wind turbine being tested Greater than or equal to the generator torque threshold (0.1 pu , pu represents the per unit value), that is ; The control mode of the drive system switches from speed control mode to torque control mode, and the torque command ;in, The wind rotor low speed shaft torque of the real-time simulation model; The increased damping compensation value is used to compensate for the mechanical damping torque of the drag system. It is proportional to the speed of the drag system and can be expressed as , K damp is the damping coefficient; The speed protection compensation value is increased. When the speed of the drag system exceeds the control error band, Keep the traction system speed within a reasonable range.

[0052] Specifically, it can be expressed as:

[0053] In the above formula, K ratio is the proportional coefficient of the speed error, E w Indicates the preset speed error.

[0054] S415. The speed of the drive system is maintained within the speed range of the wind turbine under test. If the grid-connection flag B1 = 1 and the shutdown command flag B2 = 1, the control mode of the drive system is the torque control mode, and the torque command is ; S416, the speed of the drive system gradually decreases to near the grid-connected speed. If the grid-connected flag bit B1 = 0 and the shutdown command flag bit B2 = 1, the control mode of the drive system is switched from the torque control mode to the speed control mode, and the speed command .

[0055] Example 2 like Figure 4 As shown, based on the same inventive concept as the above embodiment, the present invention also provides a control mode switching device for a transmission chain test system, comprising: A simulation module, used for determining a real-time simulation model of a wind turbine under test in a real-time simulation system; A first acquisition module is used to acquire a simulated rotation speed of a real-time simulation model under a preset wind speed condition; The second acquisition module is used to obtain the generator torque command, grid connection flag and shutdown command flag of the wind turbine set under test; The control mode switching module is used to determine the control mode of the traction system based on the generator torque command, the grid connection flag, the shutdown command flag, the simulation speed and the preset generator torque threshold; wherein the traction system is used to drag the wind turbine under test to operate according to the determined control mode, and the control mode includes a speed control mode and a torque control mode.

[0056] Specifically, the control mode switching module is specifically used for: When the real-time simulation model starts running under the preset wind speed conditions, the grid-connected flag and the shutdown command flag are both invalid, and the control mode of the drive system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed; If the speed of the drive system rises to the grid-connected speed of the wind turbine under test, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is less than the generator torque threshold, it is determined that the control mode of the drive system is the speed control mode, and the speed command of the speed control mode is the simulation speed; If the speed of the drive system is greater than the grid-connected speed of the wind turbine under test, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is greater than or equal to the generator torque threshold, the control mode of the drive system is determined to be the torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value, the speed protection compensation value, and the wind rotor low-speed shaft torque of the real-time simulation model; If the speed of the drive system is maintained within the grid-connected speed range of the wind turbine under test, and the grid-connected flag is valid, and the shutdown command flag is valid, it is determined that the control mode of the drive system is the torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value and the wind rotor low-speed shaft torque of the real-time simulation model; If the speed of the drive system is reduced to the grid-connected speed of the wind turbine under test, and the grid-connected flag is invalid, and the shutdown command flag is valid, the control mode of the drive system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed of the real-time simulation model.

[0057] Example 3 like Figure 5 As shown, the present invention also provides an electronic device 100 for implementing a control mode switching method for a transmission chain test system; the electronic device 100 includes a memory 101, at least one processor 102, a computer program 103 stored in the memory 101 and executable on at least one processor 102, and at least one communication bus 104.

[0058] The memory 101 can be used to store a computer program 103 . The processor 102 implements the control mode switching method steps of a transmission chain test system in Example 1 by running or executing the computer program stored in the memory 101 and calling the data stored in the memory 101 .

[0059] The memory 101 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data (such as audio data) created according to the use of the electronic device 100, etc. In addition, the memory 101 may include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0060] At least one processor 102 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 102 may be a microprocessor or any conventional processor, etc. The processor 102 is the control center of the electronic device 100, and uses various interfaces and lines to connect various parts of the entire electronic device 100.

[0061] The memory 101 in the electronic device 100 stores a plurality of instructions to implement a control mode switching method for a transmission chain test system, and the processor 102 can execute the plurality of instructions to implement: Determine the real-time simulation model of the wind turbine under test in the real-time simulation system; Obtain the simulated rotation speed of the real-time simulation model under the preset wind speed conditions; Obtain the generator torque command, grid connection flag and shutdown command flag of the wind turbine under test; The control mode of the traction system is determined based on the generator torque command, the grid connection flag, the shutdown command flag, the simulated speed and the preset generator torque threshold; wherein the traction system is used to drive the wind turbine under test to operate according to the determined control mode, and the control mode includes a speed control mode and a torque control mode.

[0062] Example 4 If the module / unit integrated in the electronic device 100 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory and read-only memory (ROM, Read-Only Memory).

[0063] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0064] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0065] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0066] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0067] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A control mode switching method for a transmission chain test system, characterized in that: include: Determine the real-time simulation model of the wind turbine under test in the real-time simulation system; Obtain the simulated speed of the real-time simulation model under the preset wind speed conditions; Obtain the generator torque command, grid connection flag and shutdown command flag of the wind turbine under test; The control mode of the traction system is determined based on the generator torque command, the grid connection flag, the shutdown command flag, the simulated speed and the preset generator torque threshold; wherein the traction system is used to drive the wind turbine under test to operate according to the determined control mode, and the control mode includes a speed control mode and a torque control mode.

2. The control mode switching method of the transmission chain test system according to claim 1, characterized in that: According to the generator torque command, grid connection flag, shutdown command flag, simulation speed and preset generator torque threshold, the control mode of the drive system is determined, including: When the real-time simulation model starts running under the preset wind speed conditions, the grid-connected flag and the shutdown command flag are both invalid; the control mode of the traction system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed; If the speed of the drive system rises to the grid-connected speed of the wind turbine under test, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is less than the generator torque threshold; determine that the control mode of the drive system is the speed control mode, and the speed command of the speed control mode is the simulation speed; If the speed of the drive system is greater than the grid-connected speed of the wind turbine under test, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is greater than or equal to the generator torque threshold; determine that the control mode of the drive system is the torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value, the speed protection compensation value and the wind rotor low-speed shaft torque of the real-time simulation model; If the speed of the drive system is maintained within the grid-connected speed range of the wind turbine being tested, and the grid-connected flag is valid, the shutdown command flag is valid; determine that the control mode of the drive system is the torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value and the wind rotor low-speed shaft torque of the real-time simulation model; If the speed of the traction system is reduced to the grid-connected speed of the wind turbine under test, and the grid-connected flag is invalid, the shutdown command flag is valid; determine that the control mode of the traction system is the speed control mode, and the speed command of the speed control mode is the simulation speed of the real-time simulation model.

3. The control mode switching method of the transmission chain test system according to claim 1, characterized in that: The speed protection compensation value is expressed as: In the formula, is the speed protection compensation value, K ratio is the proportional coefficient of the speed error, E w Indicates the preset speed error, is the actual speed of the drag system, Simulation speed of the real-time simulation model.

4. The control mode switching method of the transmission chain test system according to claim 1, characterized in that: When the drive system is in torque control mode and the speed and / or torque of the drive system oscillates at a low frequency, the torque command of the drive system is updated according to the following formula: In the formula, is the updated torque command of the drag system, is the torque command of the drag system before updating, T D is the torque of resistance control, , They are respectively the notch filter function and the bandpass filter function related to the actual speed of the drag system. is the actual speed of the drag system.

5. The control mode switching method of the transmission chain test system according to claim 1, characterized in that: When the dragging system drags the wind turbine set under test according to the determined control mode, the real-time speed of the wind turbine set under test is obtained; When the real-time speed of the wind turbine under test exceeds the speed threshold, the control mode of the drive system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed.

6. The control mode switching method of the transmission chain test system according to claim 5, characterized in that: When the driving system drives the wind turbine set under test according to the determined control mode, it also obtains the generator torque instruction of the wind turbine set under test; When the generator torque command of the wind turbine under test exceeds the preset boundary threshold, the torque command of the drive system is controlled to remain unchanged so that the drive system maintains the limit output.

7. A control mode switching device for a transmission chain test system, characterized in that: include: A simulation module, used for determining a real-time simulation model of a wind turbine under test in a real-time simulation system; A first acquisition module is used to acquire a simulated rotation speed of a real-time simulation model under a preset wind speed condition; The second acquisition module is used to obtain the generator torque command, grid connection flag and shutdown command flag of the wind turbine set under test; The control mode switching module is used to determine the control mode of the traction system based on the generator torque command, the grid connection flag, the shutdown command flag, the simulation speed and the preset generator torque threshold; wherein the traction system is used to drag the wind turbine under test to operate according to the determined control mode, and the control mode includes a speed control mode and a torque control mode.

8. The control mode switching device for a transmission chain test system according to claim 7, characterized in that: Control mode switching module, specifically used for: When the real-time simulation model starts running under the preset wind speed conditions, the grid-connected flag and the shutdown command flag are both invalid; the control mode of the traction system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed; If the speed of the drive system rises to the grid-connected speed of the wind turbine being tested, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is less than the generator torque threshold; Determine that the control mode of the dragging system is the speed control mode, and the speed command of the speed control mode is the simulation speed; If the speed of the drive system is greater than the grid-connected speed of the wind turbine being tested, and the grid-connected flag is valid, the shutdown command flag is invalid, and the generator torque command is greater than or equal to the generator torque threshold; Determine that the control mode of the drive system is a torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value, the speed protection compensation value and the wind wheel low-speed shaft torque of the real-time simulation model; If the speed of the drive system is maintained within the grid-connected speed range of the wind turbine being tested, and the grid-connected flag is valid, the shutdown command flag is valid; Determine that the control mode of the drive system is a torque control mode, and the torque command of the torque control mode is the sum of the damping compensation value and the wind wheel low-speed shaft torque of the real-time simulation model; If the speed of the drive system is reduced to the grid-connected speed of the wind turbine being tested, and the grid-connected flag is invalid, the shutdown command flag is valid; The control mode of the dragging system is determined to be the speed control mode, and the speed command of the speed control mode is the simulation speed of the real-time simulation model.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement the control mode switching method of the transmission chain test system according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by the processor, the control mode switching method of the transmission chain test system according to any one of claims 1 to 6 is implemented.

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