Method, device, equipment and medium for switching control modes of a transmission chain test system

Abstract

The present invention discloses a method, device, equipment and medium for switching control modes of a drive chain test system, belonging to the technical field of wind turbine testing. Aiming at the problem of evaluation deviation in the prior art, the present invention dynamically switches the speed control mode and torque control mode of the drive system by constructing a real-time simulation model of the unit under test and combining multi-dimensional criteria such as generator torque command, grid connection flag, shutdown command flag and simulated speed. In the torque control mode, a damping compensation value and a speed protection compensation value are introduced to suppress mechanical oscillation, and low-frequency oscillation components are eliminated through notch filtering and band-pass filtering algorithms, so as to accurately reproduce the dynamic characteristics of the drive chain. The problem of coupling instability between the unit under test and the drive system is effectively solved, the authenticity of test conditions, scenario diversity and the stability of the test platform are improved, and reliable technical support is provided for the type certification and dynamic characteristic verification of large wind turbines.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind turbine testing, and particularly relates to a method, device, equipment and medium for switching control modes of a drive train testing system. Background Art

[0002] With the continuous increase in the capacity and scale of wind turbines, the difficulty and cost of type certification and testing have also increased accordingly. In recent years, in order to achieve the factory testing and basic function verification of large-capacity units, equipment manufacturers and research institutions at home and abroad have established drive train testing 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 driving speed and applied torque of the drive train need to meet the requirements of the actual working conditions or equivalent working conditions in order to achieve the purpose of load testing of key components; and for the verification of electrical characteristics, issues such as torque changes of the wind turbine under test under different grid conditions and the coupling effect between the driving system and the wind turbine under test also need to be considered.

[0003] Currently, to achieve the above verification and testing, most of the control of the drive train platform adopts an open-loop control method of setting a fixed speed for the driving system and applying 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 cause an evaluation deviation from the actual unit characteristics. Summary of the Invention

[0004] The purpose of the present invention is to provide a method, device, equipment and medium for switching control modes of a drive train testing system, so as to solve the problem in the prior art that the speed is given according to the design curve of the wind turbine under test, resulting in an evaluation deviation from the actual unit characteristics.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] In the first aspect of the present invention, a method for switching control modes of a drive train testing system is provided, including:

[0007] Determine the real-time simulation model of the wind turbine under test in the real-time simulation system;

[0008] Obtain the simulation speed of the real-time simulation model under the preset wind speed condition;

[0009] Obtain the generator torque command, grid connection flag bit and shutdown command flag bit of the wind turbine under test;

[0010] Determine the control mode of the driving system according to the generator torque command, grid connection flag bit, shutdown command flag bit, simulation speed and the preset generator torque threshold; wherein, the driving 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.

[0011] Further, according to the generator torque command, grid connection flag bit, shutdown command flag bit, simulation speed, and a preset generator torque threshold, determine the control mode of the drive system, including:

[0012] When the real-time simulation model starts running under the preset wind speed condition, both the grid connection flag bit and the shutdown command flag bit are invalid; 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;

[0013] If the speed of the drive system rises to the grid connection speed of the measured wind turbine, and the grid connection flag bit is valid, the shutdown command flag bit 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;

[0014] If the speed of the drive system is greater than the grid connection speed of the measured wind turbine, and the grid connection flag bit is valid, the shutdown command flag bit 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 low-speed shaft torque of the wind turbine of the real-time simulation model;

[0015] If the speed of the drive system is maintained within the grid connection speed range of the measured wind turbine, and the grid connection flag bit is valid, the shutdown command flag bit 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 low-speed shaft torque of the wind turbine of the real-time simulation model;

[0016] If the speed of the drive system drops to the grid connection speed of the measured wind turbine, and the grid connection flag bit is invalid, the shutdown command flag bit is valid; 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 of the real-time simulation model.

[0017] Further, the speed protection compensation value is expressed as:

[0018]

[0019] In the formula, is the speed protection compensation value, K ratio is the proportional coefficient of the speed error, E w represents the preset speed error, is the actual speed of the drive system, the simulation speed of the real-time simulation model.

[0020] Further, when the drive system is in torque control mode and the rotational speed and / or torque of the drive system undergoes low-frequency oscillation, update the torque command of the drive system according to the following formula:

[0021]

[0022] In the formula, is the torque command of the updated drive system, is the torque command of the drive system before update, T D is the torque of the resistance-adding control, and are the notch filter function and the band-pass filter function respectively related to the actual rotational speed of the drive system, is the actual rotational speed of the drive system.

[0023] Further, when the drive system drives the wind turbine under test to operate according to the determined control mode, obtain the real-time rotational speed of the wind turbine under test;

[0024] When the real-time rotational speed of the wind turbine under test exceeds the rotational speed threshold, determine that the control mode of the drive system is the rotational speed control mode, and the rotational speed command of the rotational speed control mode is the simulation rotational speed.

[0025] Further, when the drive system drives the wind turbine under test to operate according to the determined control mode, also obtain the generator torque command of the wind turbine under test;

[0026] When the generator torque command of the wind turbine under test exceeds the preset boundary threshold, keep the torque command of the drive system unchanged to make the drive system maintain the limit output.

[0027] In the second aspect of the present invention, there is provided a control mode switching device for a drive train test system, including:

[0028] A simulation module, configured to determine the real-time simulation model of the wind turbine under test in the real-time simulation system;

[0029] A first acquisition module, configured to acquire the simulation rotational speed of the real-time simulation model under the preset wind speed condition;

[0030] A second acquisition module, configured to acquire the generator torque command, grid connection flag bit and shutdown command flag bit of the wind turbine under test;

[0031] A control mode switching module, configured to determine the control mode of the drive system according to the generator torque command, grid connection flag bit, shutdown command flag bit, simulation rotational speed and the preset generator torque threshold; wherein, the drive system is used to drive the wind turbine under test to operate according to the determined control mode, and the control mode includes the rotational speed control mode and the torque control mode.

[0032] Further, the control mode switching module is specifically configured to:

[0033] When the real-time simulation model starts to run under the preset wind speed condition, both the grid connection flag bit and the shutdown instruction flag bit are invalid; 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;

[0034] If the speed of the drive system rises to the grid connection speed of the measured wind turbine, and the grid connection flag bit is valid, the shutdown instruction flag bit 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;

[0035] If the speed of the drive system is greater than the grid connection speed of the measured wind turbine, and the grid connection flag bit is valid, the shutdown instruction flag bit 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 low-speed shaft torque of the wind turbine of the real-time simulation model;

[0036] If the speed of the drive system is maintained within the grid connection speed range of the measured wind turbine, and the grid connection flag bit is valid, the shutdown instruction flag bit 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 low-speed shaft torque of the wind turbine of the real-time simulation model;

[0037] If the speed of the drive system drops to the grid connection speed of the measured wind turbine, and the grid connection flag bit is invalid, the shutdown instruction flag bit is valid; 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 of the real-time simulation model.

[0038] In the third aspect of the present invention, an electronic device is provided, including a processor and a memory, and the processor is configured to execute a computer program stored in the memory to implement the above-mentioned control mode switching method for the drive train test system.

[0039] In the fourth aspect of the present invention, a computer-readable storage medium is provided, and the computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the above-mentioned control mode switching method for the drive train test system is implemented.

[0040] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0041] This solution realizes the intelligent switching between the speed control mode and the torque control mode of the drive system through multi-dimensional combined criteria of the simulation speed of the real-time simulation model, the generator torque command of the unit under test, the grid connection flag bit, and the shutdown command flag bit. 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, making the test conditions of the mechanical load and electrical response of the transmission chain highly consistent with the actual wind farm operating conditions, and improving the authenticity of the test results.

[0042] In the torque control mode, by introducing the damping compensation value and the speed protection compensation value, it is possible to suppress the mechanical oscillation between the drive system and the unit under test and solve the problem of system instability caused by the accumulation of speed deviation. 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 within the preset error band.

[0043] When the drive system is in the torque control mode, through the adaptive algorithm combining notch filtering and band-pass filtering with resistance control, it can detect and eliminate the low-frequency oscillation components of speed and torque in real time, breaking through the limitation of the traditional open-loop control being sensitive to the resonance frequency and improving the dynamic response performance of the high-inertia transmission chain test system.

[0044] By real-time monitoring the speed of the unit under test and the generator torque command, when the speed exceeds the limit or the torque command exceeds the boundary, it immediately switches to the speed control mode or locks the torque output limit value to prevent equipment damage to the unit under test due to overload or out-of-control. The protection mechanism and the wind speed condition of the real-time simulation model work together to achieve the full-condition safety boundary protection during the test process.

[0045] This solution can quickly adapt to the test requirements of wind turbines with different capacities and models by parametrically configuring key parameters such as the generator torque threshold and the speed error proportional coefficient, solves the problems of the fixed control strategy and poor portability of the traditional transmission chain test system, and significantly reduces the transformation cost and commissioning cycle of the test platform. Description of the Drawings

[0046] The specification drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0047] Figure 1 It is a flowchart of a method for switching the control mode of a transmission chain test system according to an embodiment of the present invention;

[0048] Figure 2 It is an architecture diagram of a transmission chain test system according to an embodiment of the present invention;

[0049] Figure 3It is the flowchart of control mode switching in the embodiment of the present invention;

[0050] Figure 4 It is the structural block diagram of a control mode switching device for a drive chain test system in the embodiment of the present invention;

[0051] Figure 5 It is the structural block diagram of an electronic device in the embodiment of the present invention. Detailed implementation manners

[0052] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0053] The following detailed descriptions are all exemplary descriptions, aiming to provide further detailed descriptions of the present invention. Unless otherwise specified, all technical terms adopted by the present invention have the same meaning as commonly understood by those of ordinary skill in the art to which the present application belongs. The terms used in the present invention are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention.

[0054] Embodiment 1

[0055] To test and verify the operating characteristics of large-scale wind turbines, the full-scale drive chain ground test platform in the prior art uses a constant speed control mode to drive the wind turbine under test, and realizes the stable operation of the unit by means of open-loop given torque. Under this control mode, the control system function of the wind turbine under test cannot be fully put into use, the power change obtained by the test has nothing to do with the wind speed fluctuation, and it cannot meet the test requirements under variable wind conditions and complex power grid conditions, and may produce an evaluation deviation from the actual characteristics.

[0056] To solve the above problems, the embodiment of the present invention provides a control mode switching method for a drive chain test system, including the following steps:

[0057] S1. Determine the real-time simulation model of the wind turbine under test in the real-time simulation system;

[0058] S2. Obtain the simulation speed of the real-time simulation model under the preset wind speed conditions;

[0059] S3. Obtain the generator torque command, grid connection flag bit and shutdown command flag bit of the wind turbine under test;

[0060] S4. Determine the control mode of the drive system according to the generator torque command, grid connection flag bit, shutdown command flag bit, simulation speed and the preset generator torque threshold; wherein, the drive 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.

[0061] Through the above solution, 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 under test, and the platform control system realizes the closed-loop control of the mechanical hardware-in-the-loop by controlling the driving system. The control mode switching method of the transmission chain test system proposed by the present invention can realize the switching between the speed control mode and the torque control mode of the driving system, making the mechanical and electrical characteristics of the transmission chain of the wind turbine under test closer to the actual situation.

[0062] It should be noted that the method of the present invention is implemented based on the transmission chain test system. As Figure 2 shown, the transmission chain test system may include a driving system, a hydraulic loading system, a platform control system, a real-time simulation system, etc. Data interaction is carried out between the driving system, the hydraulic loading system, the platform control system and the real-time simulation system through communication protocols.

[0063] 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 an impeller, a main shaft, a gearbox, a tower barrel and a generator, etc.; the real-time simulation model includes functions such as wind and wave environment simulation, aerodynamic characteristic simulation, and basic dynamic characteristic simulation of yaw and pitch. The input conditions of the real-time simulation model may include: wind speed conditions, pitch angle commands, generator torque commands, etc.; the output signals of the real-time simulation model may include: wind speed, pitch angle, non-axial load, wind turbine speed, and axial / speed torque, tower barrel vibration acceleration, etc.

[0064] 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 environment information, pitch mechanism communication and tower barrel vibration communication; among them, the external environment information means: 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 perceive the current wind conditions; the pitch mechanism communication means: realizing the data interaction of the pitch angle command and the operation state feedback between the wind turbine under test and the real-time simulation model according to the actual communication protocol; the tower barrel vibration communication means: transmitting the collected tower barrel vibration acceleration of the real-time simulation model to the wind turbine under test according to the actual communication protocol. The model condition configuration subsystem is used to control the real-time change of environmental parameters, and can modify the test conditions of the real-time simulation model in real time by changing external conditions such as average wind speed, turbulence intensity and wave height. As an example, in this solution, the model condition configuration subsystem sets the wind speed conditions of the real-time simulation model. The logic control subsystem is mainly used for control mode switching, as well as axial variable threshold control and axial torque addition resistance control.

[0065] A dragging system is used to drag the wind turbine under test to operate according to the control mode and control instructions. The control modes of the dragging system include a speed control mode and a torque control mode, and the corresponding control instructions are a speed instruction and a torque instruction respectively.

[0066] A hydraulic loading system is used to apply a force to the wind turbine under test, so that the stress state of the wind turbine under test is consistent with the stress state of the real-time simulation model. Among them, the forces of the hydraulic loading system can include Fx, Fy, Fz, Mx and My, which are the forces in the X, Y, and Z directions, and the torques around the X and Y directions respectively.

[0067] In an optional embodiment, when the dragging system, the hydraulic loading system, and the wind turbine under test are in a 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 of the wind turbine under test are configured 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 under test. The main control system of the wind turbine under test enters the startup state. After that, the pitch angle instruction of the real-time simulation model gradually decreases, and the rotational speed of the real-time simulation model gradually increases; the logic control subsystem controls the dragging system to adopt the speed control mode in the initial state and issues the simulation speed of the real-time simulation model to the dragging system as the speed instruction; 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 axial torque adding resistance control to protect the operating state of the wind turbine under test to be controlled.

[0068] The method of the present invention will be further introduced in detail below.

[0069] As Figure 1 shown, a method for switching the control mode of a drive train test system includes the following steps:

[0070] S10. Determine the real-time simulation model of the wind turbine under test in the real-time simulation system.

[0071] It should be noted that the real-time simulation model of the wind turbine under test is constructed in the real-time simulation system.

[0072] S20. Obtain the simulation speed of the real-time simulation model under the preset wind speed conditions.

[0073] It should be noted that in this solution, a real-time simulation model is constructed in the real-time simulation system. After inputting the preset wind speed conditions into the real-time simulation model, the real-time simulation model starts to run, and at this time, the simulation speed can be obtained.

[0074] S30. Obtain the generator torque instruction, grid connection flag bit, and shutdown instruction flag bit of the wind turbine under test.

[0075] In one embodiment, the generator torque command of the wind turbine under test is calculated based on the rotational speed of the wind turbine under test.

[0076] In one embodiment, it is set that the grid connection flag bit detected by the wind turbine under test is represented as B1, and the shutdown command flag bit is represented as B2; when the grid connection flag bit B1 = 0, it indicates that the grid connection flag bit is invalid, that is, the wind turbine under test is off-grid; when the grid connection flag bit B1 = 1, it indicates that the grid connection flag bit is valid, that is, the wind turbine under test is grid-connected; when the shutdown command flag bit B2 = 0, it indicates that the shutdown command flag bit is invalid, that is, no shutdown command is received; when the shutdown command flag bit B2 = 1, it indicates that the shutdown command flag bit is valid, that is, a shutdown command has been received.

[0077] S40. Determine the control mode of the drive system according to the generator torque command, the grid connection flag bit, the shutdown command flag bit, the simulated rotational speed, and a preset generator torque threshold; wherein, the drive system is used to drive the wind turbine under test to operate according to the determined control mode, and the control mode includes a rotational speed control mode and a torque control mode.

[0078] In one embodiment, step S40 specifically includes:

[0079] S401. When the real-time simulation model starts to run under preset wind speed conditions, both the grid connection flag bit and the shutdown command flag bit are invalid, and it is determined that the control mode of the drive system is the rotational speed control mode, and the rotational speed command of the rotational speed control mode is the simulated rotational speed;

[0080] S402. If the rotational speed of the drive system rises to the grid connection rotational speed of the wind turbine under test, and the grid connection flag bit is valid, the shutdown command flag bit 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 rotational speed control mode, and the rotational speed command of the rotational speed control mode is the simulated rotational speed;

[0081] S403. If the rotational speed of the drive system is greater than the grid connection rotational speed of the wind turbine under test, and the grid connection flag bit is valid, the shutdown command flag bit 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 rotational speed protection compensation value, and the torque of the low-speed shaft of the wind turbine of the real-time simulation model;

[0082] S404. If the rotational speed of the drive system is maintained within the grid connection rotational speed range of the wind turbine under test, and the grid connection flag bit is valid, the shutdown command flag bit 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 torque of the low-speed shaft of the wind turbine of the real-time simulation model;

[0083] S405. If the rotational speed of the drag system decreases to the grid connection rotational speed of the wind turbine under test and the grid connection flag bit is invalid while the shutdown command flag bit is valid, determine that the control mode of the drag system is the rotational speed control mode, and the rotational speed command of the rotational speed control mode is the simulation rotational speed of the real-time simulation model.

[0084] Specifically, in step S403, the rotational speed protection compensation value is expressed as:

[0085]

[0086] In the formula, is the rotational speed protection compensation value, K ratio is the proportional coefficient of the rotational speed error, E w represents the preset rotational speed error, is the actual rotational speed of the drag system, is the simulation rotational speed of the real-time simulation model.

[0087] Specifically, in steps S402 - S404 above, when the drag system is in the torque control mode and the rotational speed and / or torque of the drag system undergoes low-frequency oscillation, the resistance addition control can be manually triggered, and the torque command of the drag system is updated according to the following formula:

[0088]

[0089] In the formula, is the updated torque command of the drag system, is the torque command of the drag system before update, T D is the torque of the resistance addition control, 、 are respectively the notch filter function and the band-pass filter function related to the actual rotational speed of the drag system, is the actual rotational speed of the drag system.

[0090] Specifically, in steps S401 - S405 above, when the drag system drives the wind turbine under test to operate according to the determined control mode (such as the torque control mode), the real-time rotational speed of the wind turbine under test is obtained; when the real-time rotational speed of the wind turbine under test exceeds the rotational speed threshold, determine that the control mode of the drag system is the rotational speed control mode, and the rotational speed command of the rotational speed control mode is the simulation rotational speed.

[0091] Specifically, in steps S401 - S405 above, when the drag system drives the wind turbine under test to operate according to the determined control mode, the generator torque command of the wind turbine under test is also obtained; when the generator torque command of the wind turbine under test exceeds the preset boundary threshold, the drag system is made to maintain the limit output according to its current torque command;

[0092] When , , any one or more of them maintain a constant value and the output exceeds a predetermined time, a shutdown is triggered. At this time, the shutdown instruction flag bit is valid, and the shutdown instruction flag bit B2 = 1.

[0093] In an alternative embodiment, as Figure 3 shown, step S40 may further include the following steps:

[0094] S411. Set the speed command of the drive system to be , the actual speed is expressed as , and the torque command is expressed as . Set the speed of the real-time simulation model to be , and the low-speed shaft torque of the wind turbine of the real-time simulation model is expressed as . The generator torque command of the wind turbine under test is expressed as .

[0095] S412. In the initial state, if the grid connection flag bit B1 = 0 and the shutdown instruction 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;

[0096] S413. The speed of the drive system gradually rises to meet the grid connection speed requirement of the wind turbine under test. If the grid connection flag bit B1 = 1, the shutdown instruction flag bit B2 = 0, and the generator torque command of the wind turbine under test is less than the generator torque threshold (0.1 pu , pu represents the per-unit value), that is ; then 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;

[0097] S414. The speed of the drive system continues to rise, and the torque of the wind turbine under test gradually increases. If the grid connection flag bit B1 = 1, the shutdown instruction flag bit B2 = 0, and the generator torque command of the wind turbine under test is greater than or equal to the generator torque threshold (0.1 pu , pu represents the per-unit value), that is ; then the control mode of the drive system is switched from the speed control mode to the torque control mode, and the torque command ; where is the low-speed shaft torque of the wind turbine of the real-time simulation model; is the increased damping compensation value, which is used to compensate the mechanical damping torque of the drive system. is in a proportional relationship with the rotational speed of the drive system and can be expressed as , K damp is the damping coefficient; is the increased rotational speed protection compensation value. When the rotational speed of the drive system exceeds the control error band, is used to maintain the rotational speed of the drive system within a reasonable range.

[0098] Specifically, it can be expressed as:

[0099]

[0100] In the above formula, K ratio is the proportional coefficient of the rotational speed error, E w represents the preset rotational speed error.

[0101] S415. If the rotational speed of the drive system is maintained within the rotational speed range of the measured wind turbine generator during grid connection and the grid connection flag bit B1 = 1 and the shutdown command flag bit B2 = 1, the control mode of the drive system is the torque control mode, and the torque command is ;

[0102] S416. If the rotational speed of the drive system gradually decreases to near the grid connection speed and the grid connection flag bit B1 = 0 and the shutdown command flag bit B2 = 1, the control mode of the drive system switches from the torque control mode to the rotational speed control mode, and the rotational speed command is .

[0103] Embodiment 2

[0104] As Figure 4 shown, based on the same inventive concept as the above embodiment, the present invention further provides a control mode switching device for a drive train test system, including:

[0105] A simulation module, which is used to determine the real-time simulation model of the measured wind turbine generator in the real-time simulation system;

[0106] A first acquisition module, which is used to acquire the simulation rotational speed of the real-time simulation model under the preset wind speed condition;

[0107] A second acquisition module, which is used to acquire the generator torque command, the grid connection flag bit, and the shutdown command flag bit of the measured wind turbine generator;

[0108] A control mode switching module is used to determine the control mode of the driving system according to the generator torque command, grid connection flag bit, shutdown command flag bit, simulated speed, and a preset generator torque threshold. Among them, the driving 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.

[0109] Specifically, the control mode switching module is specifically used for:

[0110] When the real-time simulation model starts to run under preset wind speed conditions, both the grid connection flag bit and the shutdown command flag bit are invalid, and it is determined that the control mode of the driving system is the speed control mode, and the speed command of the speed control mode is the simulated speed.

[0111] If the speed of the driving system rises to the grid connection speed of the wind turbine under test, and the grid connection flag bit is valid, the shutdown command flag bit is invalid, and the generator torque command is less than the generator torque threshold, it is determined that the control mode of the driving system is the speed control mode, and the speed command of the speed control mode is the simulated speed.

[0112] If the speed of the driving system is greater than the grid connection speed of the wind turbine under test, and the grid connection flag bit is valid, the shutdown command flag bit 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 driving 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 low-speed shaft torque of the wind turbine of the real-time simulation model.

[0113] If the speed of the driving system is maintained within the grid connection speed range of the wind turbine under test, and the grid connection flag bit is valid, the shutdown command flag bit is valid, it is determined that the control mode of the driving 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 low-speed shaft torque of the wind turbine of the real-time simulation model.

[0114] If the speed of the driving system drops to the grid connection speed of the wind turbine under test, and the grid connection flag bit is invalid, the shutdown command flag bit is valid, it is determined that the control mode of the driving system is the speed control mode, and the speed command of the speed control mode is the simulated speed of the real-time simulation model.

[0115] Embodiment 3

[0116] As Figure 5 shown, the present invention also provides an electronic device 100 for implementing a control mode switching method of a drive train 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.

[0117] The memory 101 can be used to store the computer program 103. By running or executing the computer program stored in the memory 101 and calling the data stored in the memory 101, the processor 102 implements the steps of the control mode switching method for a drive chain test system in Embodiment 1.

[0118] The memory 101 may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area may store data created according to the use of the electronic device 100 (such as audio data, etc.). In addition, the memory 101 may include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0119] At least one processor 102 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 102 may be a microprocessor or the processor 102 may also be any conventional processor, etc. The processor 102 is the control center of the electronic device 100 and connects various parts of the entire electronic device 100 through various interfaces and lines.

[0120] The memory 101 in the electronic device 100 stores multiple instructions to implement a control mode switching method for a drive chain test system. The processor 102 can execute the multiple instructions to achieve:

[0121] Determine the real-time simulation model of the wind turbine under test in the real-time simulation system;

[0122] Obtain the simulation speed of the real-time simulation model under preset wind speed conditions;

[0123] Obtain the generator torque command, grid connection flag bit, and shutdown command flag bit of the wind turbine under test;

[0124] Determine the control mode of the driving system according to the generator torque command, grid connection flag bit, shutdown command flag bit, simulated speed, and a preset generator torque threshold; wherein, the driving 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.

[0125] Embodiment 4

[0126] If the modules / units integrated in the electronic device 100 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present invention, it can also be completed by a computer program instructing the relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, and read-only memory (ROM, Read-Only Memory).

[0127] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, system, or computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can 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.

[0128] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (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 can be implemented by computer program instructions, and the combination of processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0129] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction means that implements the functions specified in one or more of the processes and / or blocks Figure 1 one or more of the processes and / or blocks Figure 1 specified in the block or blocks.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the processes and / or blocks Figure 1 one or more of the processes and / or blocks Figure 1 specified in the block or blocks.

[0131] In the description of this specification, the descriptions with reference to the terms "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A method for switching control modes of a transmission chain test system, characterized in that, Including: Determine the real-time simulation model of the wind turbine under test in a real-time simulation system; Obtain the simulated rotational speed of the real-time simulation model under a preset wind speed condition; Obtain the generator torque command, grid connection flag bit, and shutdown command flag bit of the wind turbine under test; Determine the control mode of the drive system based on the generator torque command, grid connection flag bit, shutdown command flag bit, simulated rotational speed, and a preset generator torque threshold; wherein, the drive system is used to drive the wind turbine under test to operate according to the determined control mode, and the control mode includes a rotational speed control mode and a torque control mode; Determine the control mode of the drive system based on the generator torque command, grid connection flag bit, shutdown command flag bit, simulated rotational speed, and a preset generator torque threshold, including: When the real-time simulation model starts to operate under a preset wind speed condition, both the grid connection flag bit and the shutdown command flag bit are invalid; determine that the control mode of the drive system is the rotational speed control mode, and the rotational speed command of the rotational speed control mode is the simulated rotational speed; If the rotational speed of the drive system rises to the grid connection rotational speed of the wind turbine under test, the grid connection flag bit is valid, the shutdown command flag bit 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 rotational speed control mode, and the rotational speed command of the rotational speed control mode is the simulated rotational speed; If the rotational speed of the drive system is greater than the grid connection rotational speed of the wind turbine under test, the grid connection flag bit is valid, the shutdown command flag bit 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 rotational speed protection compensation value, and the low-speed shaft torque of the wind turbine of the real-time simulation model; If the rotational speed of the drive system is maintained within the grid connection rotational speed range of the wind turbine under test, the grid connection flag bit is valid, and the shutdown command flag bit 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 low-speed shaft torque of the wind turbine of the real-time simulation model; If the rotational speed of the drive system drops to the grid connection rotational speed of the wind turbine under test, the grid connection flag bit is invalid, and the shutdown command flag bit is valid; determine that the control mode of the drive system is the rotational speed control mode, and the rotational speed command of the rotational speed control mode is the simulated rotational speed of the real-time simulation model.

2. The method for switching the control mode of the drive chain test system according to claim 1, wherein The rotational speed protection compensation value is expressed as: In the formula, is the rotational speed protection compensation value, K ratio is the proportional coefficient of the rotational speed error, E w represents the preset rotational speed error, is the actual rotational speed of the drive system, is the simulated rotational speed of the real-time simulation model.

3. The control mode switching method of the drive chain test system according to claim 1, characterized in that When the drive system is in the torque control mode and the rotational speed and / or torque of the drive system undergo low-frequency oscillations, update the torque command of the drive system according to the following formula: Wherein, is the torque command of the updated drag system, is the torque command of the drag system before update, T D is the torque of the resistance adding control, and are the notch filter function and the band-pass filter function related to the actual speed of the drag system respectively, is the actual speed of the drag system.

4. The control mode switching method of the drive chain test system according to claim 1, characterized in that When the drive system drives the wind turbine under test to operate according to the determined control mode, obtain the real-time rotational speed of the wind turbine under test; When the real-time rotational speed of the wind turbine under test exceeds the rotational speed threshold, determine that the control mode of the drive system is the rotational speed control mode, and the rotational speed command of the rotational speed control mode is the simulated rotational speed.

5. The method for switching the control mode of the transmission chain test system according to claim 4, wherein When the drive system drives the wind turbine under test to operate according to the determined control mode, also obtain the generator torque command of the wind turbine under test; When the generator torque command of the wind turbine under test exceeds the preset boundary threshold, keep the torque command of the drive system unchanged to make the drive system maintain a limit output.

6. A control mode switching device for a transmission chain test system, characterized in that, Including: A simulation module, configured to determine a real-time simulation model of a wind turbine under test in a real-time simulation system; A first acquisition module, configured to acquire a simulation speed of the real-time simulation model under a preset wind speed condition; A second acquisition module, configured to acquire a generator torque command, a grid connection flag bit, and a shutdown command flag bit of the wind turbine under test; A control mode switching module, configured to determine a control mode of a drive system according to the generator torque command, the grid connection flag bit, the shutdown command flag bit, the simulation speed, and a preset generator torque threshold; wherein, the drive system is configured 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; The control mode switching module is specifically configured to: When the real-time simulation model starts to operate under a preset wind speed condition, both the grid connection flag bit and the shutdown command flag bit are invalid; 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 rises to the grid connection speed of the wind turbine under test, the grid connection flag bit is valid, the shutdown command flag bit 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 connection speed of the wind turbine under test, the grid connection flag bit is valid, the shutdown command flag bit 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 a damping compensation value, a speed protection compensation value, and the low-speed shaft torque of the wind turbine of the real-time simulation model; If the speed of the drive system is maintained within the grid connection speed range of the wind turbine under test, the grid connection flag bit is valid, and the shutdown command flag bit 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 low-speed shaft torque of the wind turbine of the real-time simulation model; If the speed of the drive system drops to the grid connection speed of the wind turbine under test, the grid connection flag bit is invalid, and the shutdown command flag bit is valid; 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 of the real-time simulation model.

7. An electronic device, characterized in that, It includes a processor and a memory, and the processor is configured to execute a computer program stored in the memory to implement the control mode switching method of the drive chain test system according to any one of claims 1 to 5.

8. 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, it implements the control mode switching method of the drive chain test system according to any one of claims 1 to 5.

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