A cascaded extended simulation method for wind turbine drive trains

Abstract

This application provides a cascaded extended simulation method for wind turbine drivetrains. It involves constructing a primary dynamic simulation model of the entire wind turbine and a secondary dynamic simulation model of the drivetrain multibody dynamics, including a gearbox multibody dynamics model, a coupling model, and a generator multibody dynamics model. The primary dynamic simulation model of the entire wind turbine outputs standard values ​​of the total aerodynamic torque and the generator electromagnetic torque to the secondary dynamic simulation model of the drivetrain multibody dynamics based on the input three-dimensional turbulent wind field. The gearbox multibody dynamics model outputs the vibration characteristics and load characteristics of each component within the gearbox based on the total aerodynamic torque and the generator electromagnetic torque. The generator multibody dynamics model outputs the actual value of the generator electromagnetic torque based on the standard value of the generator electromagnetic torque and the generator rotor angular velocity. This method improves the simulation performance of both the gearbox and generator multibody dynamics models.

Description

Technical Field

[0001] This application relates to the field of wind turbine simulation technology, and in particular to a cascaded extended simulation method for wind turbine transmission chains. Background Technology

[0002] A wind turbine (i.e., a wind power generator) is a renewable energy power generation device that can convert wind energy into electrical energy. Currently, when studying wind turbines, it is common practice to create a complete model of the wind turbine or to create a separate simulation model for each of the individual components.

[0003] The wind turbine drivetrain (i.e., gearbox and generator) is an integral part of the wind turbine. In existing technologies, when simulating the wind turbine drivetrain, preset parameters (i.e., given values) are usually input into the simulation model. This makes it difficult to realistically reflect the working environment of the gearbox and generator, resulting in poor simulation effects of the wind turbine drivetrain. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a cascaded extended simulation method for the transmission chain of a wind turbine. By using the output of the first-level dynamic simulation model of the wind turbine as a whole to drive the second-level dynamic simulation model of the multibody dynamics of the transmission chain, the gearbox multibody dynamics model and the generator multibody dynamics model can operate in a relatively realistic working environment, thereby improving the simulation effect of the gearbox multibody dynamics model and the generator multibody dynamics model.

[0005] In a first aspect, embodiments of this application provide a cascaded extended simulation method for wind turbine drive trains, the method comprising:

[0006] A first-level dynamic simulation model of the wind turbine generator set and a second-level dynamic simulation model of the transmission chain multibody dynamics are constructed. The second-level dynamic simulation model of the transmission chain multibody dynamics includes a sequentially linked multibody dynamic model of the gearbox, a coupling model, and a generator multibody dynamic model.

[0007] The wind turbine generator's first-level dynamic simulation model and the transmission chain's multibody dynamics second-level dynamic simulation model are jointly operated so that the wind turbine generator's first-level dynamic simulation model outputs the standard values ​​of total aerodynamic torque and generator electromagnetic torque to the transmission chain's multibody dynamics second-level dynamic simulation model based on the input three-dimensional turbulent wind field, thereby driving the transmission chain's multibody dynamics second-level dynamic simulation model to operate.

[0008] During operation, the transmission chain multibody dynamics level two dynamic simulation model outputs the vibration characteristics and load characteristics of each component in the gearbox based on the input total aerodynamic torque and the generator electromagnetic torque obtained from the generator multibody dynamics model through the coupling model; and the generator multibody dynamics model outputs the actual value of the generator electromagnetic torque based on the input standard value of the generator electromagnetic torque and the generator rotor angular velocity obtained from the gearbox multibody dynamics model through the coupling model.

[0009] In conjunction with the first aspect, this application provides a first possible implementation of the first aspect, wherein the process of constructing the multibody dynamics model of the gearbox includes:

[0010] The simulation structure of the gearbox multibody dynamics model is constructed; wherein, the simulation structure of the gearbox multibody dynamics model includes the gearbox housing, the first-stage planetary gear train, the second-stage planetary gear train, the third-stage parallel gear train, the intermediate shaft, the high-speed shaft, and the corresponding bearings;

[0011] Based on the preset total transmission ratio, the transmission ratio of each gear in the first-stage planetary gear train, the second-stage planetary gear train, and the third-stage parallel gear train is determined so that the transmission ratio of each gear in the gearbox satisfies the total transmission ratio.

[0012] Select appropriate materials for each component in the multibody dynamics model of the gearbox;

[0013] The gear strength, shaft strength, and bearing life in the gearbox multibody dynamics model are verified to determine whether the simulated gearbox multibody dynamics model meets the requirements.

[0014] The simulated gearbox multibody dynamics model that meets the requirements is determined as the constructed gearbox multibody dynamics model.

[0015] In conjunction with the first possible implementation of the first aspect, this application provides a second possible implementation of the first aspect, wherein the process of constructing the generator multibody dynamics model includes:

[0016] Construct the simulation structure of the generator multibody dynamics model; wherein, the simulation structure of the generator multibody dynamics model includes stator core, rotor core, stator winding, rotor winding, and main shaft;

[0017] Select appropriate materials for the stator core, the rotor core, the stator winding, the rotor winding, and the main shaft, respectively.

[0018] The main shaft is subjected to torsional strength verification, bending strength verification, and combined stress verification to determine whether the material selected for the generator multibody dynamics model can meet the strength verification requirements.

[0019] When the material selected for the generator multibody dynamics model can meet the strength verification requirements, the coupling model is constructed according to the diameter of the main shaft;

[0020] The step of constructing the coupling model based on the diameter of the main shaft includes:

[0021] Based on the diameter of the main shaft and the diameter of the high-speed shaft, the parameters of the coupling model are determined to construct the simulation structure of the coupling model;

[0022] Select appropriate materials for the coupling model;

[0023] The coupling model is subjected to torsional strength verification, bending strength verification, and combined stress verification to determine whether the material selected for the coupling model meets the strength verification requirements.

[0024] When the material selected for the coupling model meets the strength verification requirements, the coupling model is used to connect the main shaft to the high-speed shaft in the gearbox multibody dynamics model.

[0025] In conjunction with the first possible implementation of the first aspect, this application provides a third possible implementation of the first aspect, wherein the first-stage planetary gear train includes a low-speed shaft, a sun gear, multiple planet gears, and an internal gear ring; the second-stage planetary gear train includes a second-stage planet carrier, a sun gear, multiple planet gears, and an internal gear ring; and the third-stage parallel gear train includes a third-stage large gear and a third-stage small gear.

[0026] The internal gear ring in the first-stage planetary gear train and the internal gear ring in the second-stage planetary gear train are hinged to the gearbox housing. The gearbox housing is hinged to the low-speed shaft, the second-stage planetary carrier, the intermediate shaft, and the high-speed shaft respectively through spring damping force elements.

[0027] In the first-stage planetary gear train, multiple planetary gears are hinged to the low-speed shaft via spring damping elements. Multiple planetary gears are also connected to the sun gear and the internal gear ring via spring damping elements. The sun gear is also hinged to the second-stage planetary carrier.

[0028] In the second-stage planetary gear train, the second-stage planetary carrier is hinged to multiple planetary gears via spring damping elements, and the multiple planetary gears are also connected to the sun gear and the internal gear ring via spring damping elements.

[0029] In the three-stage parallel gear train, the third-stage large gear and the third-stage small gear are connected by a spring damping force element; the intermediate shaft is hinged to the third-stage small gear and the sun gear in the second-stage planetary gear train; the high-speed shaft is also hinged to the third-stage small gear.

[0030] In conjunction with the first possible implementation of the first aspect, this application provides a fourth possible implementation of the first aspect, wherein the step of verifying the gear strength, shaft strength, and bearing life in the gearbox multibody dynamics model to determine whether the simulated gearbox multibody dynamics model meets the requirements includes:

[0031] For each gear in the multibody dynamics model of the gearbox, the root bending strength and tooth surface contact strength of the gear are calculated. When the root bending strength and tooth surface contact strength of the gear are less than the preset allowable bending strength and the preset allowable contact strength, the gear is determined to meet the requirements.

[0032] For each shaft in the multibody dynamics model of the gearbox, the shear strength, bending strength, and combined stress of the shaft are calculated. When the shear strength of the shaft is greater than the preset allowable shear stress, the bending strength is greater than the preset bending strength, and the combined stress is greater than the preset allowable combined stress, the shaft is determined to meet the requirements.

[0033] For the bearing in the multibody dynamics model of the gearbox, calculate the rated dynamic load and equivalent load of the bearing, and determine the bearing life based on the rated dynamic load and equivalent load. When the bearing life meets the preset bearing duration, it is determined that the bearing meets the requirements.

[0034] When each gear, shaft, and bearing in the gearbox multibody dynamics model meets the requirements, the gearbox multibody dynamics model is deemed to meet the requirements.

[0035] In conjunction with the first aspect, this application provides a fifth possible implementation of the first aspect, wherein the method is applied to a cascaded extended simulation system for a wind turbine drivetrain; the cascaded extended simulation system for the wind turbine drivetrain includes a first server, a generator, and a discriminator; the three-dimensional turbulent wind field is generated from a simulated inflow wind model;

[0036] After constructing the first-level dynamic simulation model of the wind turbine generator set and the second-level dynamic simulation model of the multibody dynamics of the transmission chain, the method further includes:

[0037] The simulated inflow wind model, the wind turbine generator first-stage dynamic simulation model, and the transmission chain multibody dynamics second-stage dynamic simulation model are deployed on a first server. On the first server, computing resources are allocated to each of these models to ensure they operate using their respective allocated resources. During the operation of these models, their ability to function normally is tested.

[0038] After testing and confirming that the inflow wind model, the wind turbine generator first-level dynamic simulation model, and the transmission chain multibody dynamics second-level dynamic simulation model can operate normally, the trained generator is used to generate multiple simulated wind condition data of the wind turbine generator.

[0039] The trained discriminator is used to judge the authenticity of each simulated wind condition data generated by the generator, and the simulated wind condition data that does not meet the authenticity requirements are removed, while the simulated wind condition data that meets the authenticity requirements are retained.

[0040] Clustering is performed on the simulated wind condition data that meet the requirements of realism, so that simulated wind condition data with similar wind conditions are grouped into one category, and simulated wind condition data corresponding to different types of wind conditions are obtained.

[0041] In conjunction with the fifth possible implementation of the first aspect, this application provides a sixth possible implementation of the first aspect, wherein the cascaded extended simulation system of the wind turbine drive train further includes a host computer and a second server, and the method further includes:

[0042] The inflow wind model is deployed to the host computer, and the first-level dynamic simulation model of the wind turbine generator and the second-level dynamic simulation model of the multibody dynamics of the transmission chain are deployed to the second server.

[0043] The simulated wind data corresponding to different wind conditions are sent to the host computer, so that the host computer inputs the simulated wind data into the inflow wind model respectively, and outputs the three-dimensional turbulent wind field corresponding to the simulated wind data through the inflow wind model;

[0044] The step of enabling the wind turbine's first-level dynamic simulation model to output standard values ​​of total aerodynamic torque and generator electromagnetic torque to the transmission chain's second-level multibody dynamics dynamic simulation model based on the input three-dimensional turbulent wind field, thereby driving the transmission chain's second-level multibody dynamics dynamic simulation model, includes:

[0045] The host computer transmits the three-dimensional turbulent wind field corresponding to the simulated wind condition data output by the inflow wind model to the second server, so that the second server inputs the three-dimensional turbulent wind field corresponding to the simulated wind condition data into the dynamic simulation model of the wind turbine's first-level operation.

[0046] The wind turbine's first-level dynamic simulation model outputs the standard values ​​of the total aerodynamic torque and generator electromagnetic torque corresponding to the simulated wind conditions to the transmission chain multibody dynamics second-level dynamic simulation model based on the three-dimensional turbulent wind field corresponding to the input simulated wind conditions data, so as to drive the transmission chain multibody dynamics second-level dynamic simulation model to operate.

[0047] The method further includes:

[0048] Collect the vibration characteristics and load characteristics of each component in the gearbox corresponding to each of the simulated wind conditions;

[0049] The neural network model of the gearbox is trained using the vibration characteristics and load characteristics of each component in the gearbox corresponding to each of the collected simulated wind conditions data, and a trained gearbox neural network model is obtained.

[0050] The gearbox neural network model is deployed to the second server, and the gearbox multibody dynamics model deployed on the second server is replaced with the gearbox neural network model.

[0051] In conjunction with the first aspect, this application provides a seventh possible implementation of the first aspect, wherein the wind turbine generator's first-level dynamic simulation model includes: an aerodynamic system finite element model, a tower finite element model, a pitch system lumped parameter model, a transmission system lumped parameter model, a generator lumped parameter model, a three-phase power grid, a torque controller, a pitch controller, a turbine-side converter, and a grid-side converter;

[0052] During operation, the dynamic simulation model of the wind turbine unit's first-level operation uses the aerodynamic system finite element model to receive the three-dimensional turbulent wind field and the actual value of the pitch angle sent by the pitch system lumped parameter model. It also sends the total aerodynamic torque to the transmission system lumped parameter model, sends the component of the total aerodynamic torque along the radial direction of the blades to the tower finite element model, and receives the aerodynamic force on the tower top node sent by the tower finite element model. Based on the component of the total aerodynamic torque along the radial direction of the blades and the aerodynamic force on the tower top node, it calculates the forward and backward thrust of the aerodynamic system to the tower top.

[0053] The tower finite element model is used to receive the three-dimensional turbulent wind field and the component of the total aerodynamic torque along the radial direction of the blades sent by the aerodynamic system finite element model, and to calculate the forward and backward thrust of the aerodynamic system to the tower top based on the component of the total aerodynamic torque along the radial direction of the blades and the aerodynamic force on the tower top node.

[0054] The lumped parameter model of the transmission system is used to receive the electromagnetic torque of the generator sent by the lumped parameter model of the generator, and the total aerodynamic torque sent by the finite element model of the aerodynamic system, as well as to send the wind turbine rotor speed to the pitch controller, the rotor angular velocity of the generator to the torque controller, the rotor angular velocity of the generator to the lumped parameter model of the generator, and the total aerodynamic torque to the gearbox multibody dynamics model.

[0055] The generator lumped parameter model is used to send the actual value of the generator electromagnetic torque to the transmission system lumped parameter model, and to receive the generator rotor angular velocity and the generator rotor q-axis current sent by the generator-side converter from the transmission system lumped parameter model.

[0056] The lumped parameter model of the pitch system is used to send the actual value of the pitch angle to the finite element model of the aerodynamic system, and to receive the standard value of the pitch angle sent by the pitch controller.

[0057] The pitch controller is used to receive a one-dimensional scalar wind speed, receive the wind turbine rotor speed from the lumped parameter model of the transmission system, and send the standard value of the pitch angle to the lumped parameter model of the pitch system.

[0058] The torque controller is used to receive the generator rotor angular velocity sent by the lumped parameter model of the transmission system, and to send the standard value of the generator electromagnetic torque to the generator-side converter and the standard value of the generator electromagnetic torque to the generator multibody dynamics model.

[0059] The generator-side converter is used to receive the DC bus voltage provided by the grid-side converter, receive the standard value of the generator electromagnetic torque sent by the torque controller, and send the q-axis current of the generator rotor to the generator lumped parameter model.

[0060] The grid-side converter is used to provide DC bus voltage to the machine-side converter.

[0061] In conjunction with the seventh possible implementation of the first aspect, this application provides an eighth possible implementation of the first aspect, wherein the finite element model of the pneumatic system is constructed by the following method:

[0062] For each wind turbine blade in the wind turbine unit, the position of each blade node in the wind turbine blade is determined according to the first preset number of nodes and the length of the wind turbine blade;

[0063] Construct a blade node aerodynamic expression; wherein, the blade node aerodynamic expression is used to output the aerodynamic force of each blade node in the wind turbine blade based on the input air density and the wind speed, force-bearing area, lift coefficient, drag coefficient and windward angle at the blade node.

[0064] Construct an aerodynamic moment expression; wherein, the aerodynamic moment expression is used to output the aerodynamic moment of the blade node based on the input aerodynamic force of the blade node and the distance between the blade node and the blade root of the wind turbine blade;

[0065] Construct a total aerodynamic moment expression; wherein, the total aerodynamic moment expression is used to sum the aerodynamic moments of all blade nodes on all the wind turbine blades to obtain the total aerodynamic moment of all the wind turbine blades;

[0066] A blade root bending moment expression is constructed; wherein, the blade root bending moment expression is used to calculate the blade root bending moment of all the wind turbine blades based on the aerodynamic force of each blade node in all the wind turbine blades and the distance between each blade node in each wind turbine blade and the blade root of the wind turbine blade; the aerodynamic system node finite element model is composed of the total aerodynamic moment expression and the blade root bending moment expression;

[0067] The finite element model of the tower was constructed using the following method:

[0068] For the tower of the wind turbine, the position of each tower node in the tower is determined according to the second preset number of nodes and the length of the tower.

[0069] Construct the aerodynamic expression for the tower node; wherein, the aerodynamic expression for the tower node is used to output the aerodynamic force of the tower node for each tower node based on the input air density, the tower drag coefficient, and the scalar wind speed and windward area at the tower node.

[0070] Based on the mass matrix, damping matrix, and stiffness matrix of the tower, a finite element model of the tower is constructed; the finite element model of the tower is used to calculate the vibration displacement of each tower node according to the aerodynamic force of each tower node.

[0071] The generator lumped parameter model was constructed using the following method:

[0072] For the generator stator and generator rotor in the wind turbine, obtain the d-axis current and q-axis current of the generator stator and generator rotor in the dq rotating coordinate system;

[0073] In the dq rotating coordinate system, the flux linkage equation of the generator stator is constructed; wherein, the flux linkage equation of the generator stator is used to calculate the flux linkage of the generator stator based on the self-inductance of the generator stator, the mutual inductance between the generator stator and the generator rotor, and the d-axis current and q-axis current of the generator stator and the generator rotor.

[0074] Construct the lumped parameter model of the generator; wherein, the lumped parameter model of the generator is used to calculate the electromagnetic torque of the generator based on the number of pole pairs of the generator and the magnetic flux linkage of the generator stator;

[0075] The lumped parameter model of the pitch system is used to calculate the actual value of the pitch angle based on the standard value of the input pitch angle.

[0076] The lumped parameter model of the transmission system is used to calculate the rotor speed of the wind turbine and the rotor speed of the generator based on the input aerodynamic torque of the wind turbine and the electromagnetic torque of the generator.

[0077] In conjunction with the seventh possible implementation of the first aspect, this application provides a ninth possible implementation of the first aspect, wherein, when the one-dimensional scalar wind speed is greater than the rated wind speed, the torque controller calculates the ratio of the generator's rated power to the generator's rotor speed to obtain a standard value of the generator's electromagnetic torque; the generator-side converter calculates the q-axis component of the rotor current based on the standard value of the generator's electromagnetic torque calculated by the torque controller; and the generator lumped parameter model calculates the actual value of the generator's electromagnetic torque based on the q-axis component of the rotor current calculated by the generator-side converter.

[0078] When the one-dimensional scalar wind speed is greater than the rated wind speed, the pitch controller uses a PI control strategy to calculate the product of the wind turbine rotor speed and the gearbox gear ratio based on the received wind turbine rotor speed, and calculates the difference between this product and the rated speed of the generator rotor. When this difference is not equal to 0, the pitch controller calculates the standard value of the pitch angle based on the received wind turbine rotor speed and the rated speed of the generator rotor. The lumped parameter model of the pitch system calculates the actual value of the pitch angle based on the standard value of the pitch angle calculated by the pitch controller. The finite element model of the aerodynamic system calculates the actual value of the pitch angle based on the value of the pitch angle calculated by the lumped parameter model of the pitch system. The actual value of the pitch angle is used to calculate the aerodynamic torque of the wind turbine. The lumped parameter model of the transmission system calculates the wind turbine rotor speed based on the aerodynamic torque calculated by the finite element model of the aerodynamic system. The pitch controller continues to calculate the product of the wind turbine rotor speed and the gearbox gear ratio based on the received wind turbine rotor speed, and calculates the difference between this product and the rated speed of the generator rotor. When the difference is not equal to 0, the pitch controller continues to calculate the standard value of the pitch angle and subsequent steps based on the received wind turbine rotor speed and the rated speed of the generator rotor, until the difference is equal to 0, and the final wind turbine rotor speed is obtained.

[0079] When the one-dimensional scalar wind speed is less than or equal to the rated wind speed, the torque controller calculates the standard value of the generator electromagnetic torque according to the OTC torque control strategy; the generator-side converter calculates the q-axis component of the rotor current according to the standard value of the generator electromagnetic torque calculated by the torque controller; the generator lumped parameter model calculates the actual value of the generator electromagnetic torque according to the q-axis component of the rotor current calculated by the generator-side converter.

[0080] When the one-dimensional scalar wind speed is less than or equal to the rated wind speed, the standard value of the pitch angle output by the pitch controller is equal to 0.

[0081] This application provides a cascaded extended simulation method for wind turbine drivetrains. By jointly operating a primary dynamic simulation model of the entire wind turbine and a secondary dynamic simulation model of the drivetrain multibody dynamics, the output of the primary dynamic simulation model is used as the input to the secondary dynamic simulation model. This allows the secondary dynamic simulation model to perform simulations based on the results output from the primary dynamic simulation model. Compared to the secondary dynamic simulation model using pre-set parameters, this embodiment uses the output of the primary dynamic simulation model to drive the secondary dynamic simulation model. This allows the gearbox multibody dynamics model and the generator multibody dynamics model (i.e., the secondary dynamic simulation model of the drivetrain multibody dynamics) to operate in a relatively realistic working environment, thereby improving the simulation performance of the gearbox multibody dynamics model and the generator multibody dynamics model.

[0082] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0083] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0084] Figure 1 A flowchart of a cascaded extended simulation method for a wind turbine drive train provided in an embodiment of this application is shown;

[0085] Figure 2 This illustration shows a structural diagram of a first-stage dynamic simulation model of a wind turbine generator set and a second-stage dynamic simulation model of a multibody dynamics transmission chain provided in an embodiment of this application.

[0086] Figure 3 This paper shows a schematic diagram of the structure of a gearbox multibody dynamics model provided in an embodiment of this application;

[0087] Figure 4 This illustration shows a schematic diagram of the blade node and tower node of a wind turbine provided in an embodiment of this application;

[0088] Figure 5 A schematic diagram of a three-dimensional mesh of a three-dimensional turbulent wind field provided in an embodiment of this application is shown;

[0089] Figure 6 A schematic diagram of the operation of a torque controller and pitch controller provided in an embodiment of this application is shown. Detailed Implementation

[0090] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0091] Considering that when simulating the wind turbine drivetrain, preset parameters (i.e., given values) are usually input into the wind turbine drivetrain simulation model, it is difficult to realistically reflect the working environment of the gearbox and generator, resulting in poor simulation effects of the wind turbine drivetrain. Therefore, this application provides a cascaded extended simulation method for wind turbine drivetrains. By using the output of the first-level dynamic simulation model of the entire wind turbine to drive the second-level dynamic simulation model of the multibody dynamics of the drivetrain, the gearbox multibody dynamics model and the generator multibody dynamics model can operate in a relatively realistic working environment, thereby improving the simulation effect of the gearbox multibody dynamics model and the generator multibody dynamics model. The following is a description through embodiments.

[0092] To facilitate understanding of this embodiment, a cascaded extended simulation method for wind turbine drive train disclosed in this application will first be described in detail. For example... Figure 1 As shown, the cascaded extended simulation method for wind turbine drive train includes steps S101-S103:

[0093] S101: Construct a first-level dynamic simulation model of the wind turbine generator set and a second-level dynamic simulation model of the multibody dynamics of the transmission chain; the second-level dynamic simulation model of the multibody dynamics of the transmission chain includes a sequentially linked multibody dynamics model of the gearbox, a coupling model, and a generator multibody dynamics model.

[0094] In this embodiment, such as Figure 2As shown, a first-level dynamic simulation model of the wind turbine generator set and a second-level dynamic simulation model of the transmission chain multibody dynamics are constructed. The first-level dynamic simulation model of the wind turbine generator set is the overall simulation model of the wind turbine generator set. The second-level dynamic simulation model of the transmission chain multibody dynamics is the simulation model of the transmission chain within the wind turbine generator set, as shown... Figure 2 As shown, the two-stage dynamic simulation model of the transmission chain multibody dynamics includes a sequentially linked gearbox multibody dynamics model, a coupling model, and a generator multibody dynamics model. The coupling model connects the gearbox and generator multibody dynamics models. The gearbox multibody dynamics model is a simulation model of the gearbox in a wind turbine, the coupling model is a simulation model of the coupling in a wind turbine, and the generator multibody dynamics model is a simulation model of the generator in a wind turbine.

[0095] S102: Combine the first-level dynamic simulation model of the wind turbine generator set and the second-level dynamic simulation model of the multibody dynamics of the transmission chain to enable the first-level dynamic simulation model of the wind turbine generator set to output the standard values ​​of the total aerodynamic torque and the generator electromagnetic torque to the second-level dynamic simulation model of the multibody dynamics of the transmission chain based on the input three-dimensional turbulent wind field, so as to drive the operation of the second-level dynamic simulation model of the multibody dynamics of the transmission chain.

[0096] In this embodiment, such as Figure 2 As shown, a three-dimensional turbulent wind field is input into the first-level dynamic simulation model of the wind turbine through the constructed inflow wind model. The three-dimensional turbulent wind field is used to characterize the wind conditions during wind turbine operation. Based on the input three-dimensional turbulent wind field, the first-level dynamic simulation model of the wind turbine outputs the total aerodynamic torque T to the gearbox multibody dynamics model in the second-level dynamic simulation model of the transmission chain multibody dynamics. r And output the standard value of the generator electromagnetic torque to the generator multibody dynamics model in the second-level dynamic simulation model of the multibody dynamics of the transmission chain. This drives the operation of the gearbox multibody dynamics model and the generator multibody dynamics model in the two-stage dynamic simulation model of the transmission chain multibody dynamics.

[0097] S103: During operation, the gearbox multibody dynamics level two dynamic simulation model outputs the vibration characteristics and load characteristics of each component in the gearbox based on the input total aerodynamic torque and the generator electromagnetic torque obtained from the generator multibody dynamics model through the coupling model; and the generator multibody dynamics model outputs the actual value of the generator electromagnetic torque based on the input standard value of the generator electromagnetic torque and the generator rotor angular velocity obtained from the gearbox multibody dynamics model through the coupling model.

[0098] In this embodiment, such as Figure 2As shown, the multibody dynamics model of the gearbox incorporates the rotor angular velocity ω of the generator. g The coupling model sends the signal to the generator multibody dynamics model, which then transmits the generator electromagnetic torque T. e The coupling model is sent to the gearbox multibody dynamics model.

[0099] The multibody dynamics model of the gearbox is based on the total aerodynamic torque T. r and the electromagnetic torque T of the generator e The vibration and load characteristics of each component within the output gearbox are analyzed. The generator multibody dynamics model is based on the standard value of the generator's electromagnetic torque. and the rotor angular velocity ω of the generator g The actual value T of the output generator electromagnetic torque e .

[0100] In one possible implementation, the gearbox multibody dynamics model can be constructed through the following steps S201-S205:

[0101] S201: Construct the simulation structure of the multibody dynamics model of the gearbox; wherein, the simulation structure of the multibody dynamics model of the gearbox includes the gearbox housing, the first-stage planetary gear train, the second-stage planetary gear train, the third-stage parallel gear train, the intermediate shaft, the high-speed shaft, and the corresponding bearings.

[0102] like Figure 3 As shown, the first-stage planetary gear train includes a low-speed shaft, a sun gear, multiple planet gears, and an internal gear ring; the second-stage planetary gear train includes a second-stage planet carrier, a sun gear, multiple planet gears, and an internal gear ring; the third-stage parallel gear train includes a third-stage large gear and a third-stage small gear; wherein, the internal gear ring in the first-stage planetary gear train and the internal gear ring in the second-stage planetary gear train are hinged to the gearbox housing, and the gearbox housing is hinged to the low-speed shaft, the second-stage planet carrier, the intermediate shaft, and the high-speed shaft respectively through spring damping force elements.

[0103] In the first-stage planetary gear train, multiple planetary gears are hinged to the low-speed shaft via spring-damped force elements. Multiple planetary gears are also connected to the sun gear and the internal gear ring via spring-damped force elements. The sun gear is also hinged to the second-stage planetary carrier.

[0104] In the second-stage planetary gear train, the second-stage planetary carrier is hinged to multiple planetary gears via spring damping force elements, and the multiple planetary gears are also connected to the sun gear and the internal gear ring via spring damping force elements respectively.

[0105] In a three-stage parallel gear train, the third-stage large gear and the third-stage small gear are connected by a spring damping force element; the intermediate shaft is hinged to the third-stage small gear and the sun gear in the second-stage planetary gear train; the high-speed shaft is also hinged to the third-stage small gear.

[0106] In this embodiment, such as Figure 3As shown, there are 5 planetary gears in the first-order planetary gear system and 5 planetary gears in the second-order planetary gear system.

[0107] S202: Based on the preset total transmission ratio, determine the transmission ratio of each gear in the first-stage planetary gear train, the second-stage planetary gear train, and the third-stage parallel gear train, so that the transmission ratio of each gear in the gearbox satisfies the total transmission ratio.

[0108] In this embodiment, the preset total transmission ratio N of the gearbox is obtained from the design manual of an actual wind turbine, and the total transmission ratio can be expressed as:

[0109] N = N1 × N2 × N3

[0110] Wherein: N1 is the gear ratio in the first-stage planetary gear train, N2 is the gear ratio in the second-stage planetary gear train, and N3 is the gear ratio in the third-stage parallel gear train. By rationally designing N1, N2, and N3, the gearbox is ensured to meet the overall gear ratio N.

[0111] S203: Select the appropriate material for each component in the multibody dynamics model of the gearbox.

[0112] S204: Verify the gear strength, shaft strength, and bearing life in the gearbox multibody dynamics model to determine whether the simulated gearbox multibody dynamics model meets the requirements.

[0113] In this embodiment, when performing step S204, the specific steps S2041-S2044 can be executed as follows:

[0114] S2041: For each gear in the multibody dynamics model of the gearbox, calculate the root bending strength and tooth surface contact strength of the gear. When the root bending strength and tooth surface contact strength of the gear are less than the preset allowable bending strength and the preset allowable contact strength, the gear is determined to meet the requirements.

[0115] In this embodiment, the tooth root bending strength σ of the gear is calculated using the following formula. F :

[0116]

[0117] Among them, F t K represents the circumferential force on the gear. A For the application load factor; K V K is the velocity coefficient. F b is the tooth root shape factor; m is the gear width; n Y is the normal modulus; F This is the tooth root stress correction factor.

[0118] The tooth surface contact strength σ of the gear is calculated using the following formula. H :

[0119]

[0120] Where, d m Z is the pitch circle diameter; E and Z H K is the correction factor for tooth surface contact stress. H The inter-tooth load distribution factor is calculated for contact strength.

[0121] In this embodiment, the allowable bending strength and the allowable contact strength are the same, both being σ. allow Therefore, when σ is satisfied F <σ allow And σ H <σ allow At that time, it was determined that the gears met the requirements.

[0122] S2042: For each shaft in the multibody dynamics model of the gearbox, calculate the shear strength, bending strength, and combined stress of the shaft. When the shear strength of the shaft is greater than the preset allowable shear stress, the bending strength is greater than the preset bending strength, and the combined stress is greater than the preset allowable combined stress, the shaft is determined to meet the requirements.

[0123] In this embodiment, the shear strength τ of the shaft is calculated using the following formula:

[0124]

[0125] Where T is the transmitted torque, r is the radius of the shaft, and d is the diameter of the shaft segment.

[0126] The safety factor n for shear strength is calculated using the following formula. T :

[0127]

[0128] Where, τ allow Let n be the allowable shear strength. To guarantee the shear strength of the shaft, n must satisfy... T ≥1.5.

[0129] In this embodiment, the bending strength σ of the shaft is calculated using the following formula. b :

[0130]

[0131] Among them, M b d is the bending moment; c is the distance from the outer edge of the shaft section to the central axis; and d is the diameter of the shaft.

[0132] The bending strength σ is calculated using the following formula. b safety factor n b :

[0133]

[0134] Where, σ allow To guarantee the allowable bending strength of the shaft, n must be satisfied. b ≥1.5.

[0135] In this embodiment, since the shaft typically bears both torque and bending moment simultaneously, a combined stress check is required. The combined stress σ is calculated using the following formula. eq :

[0136]

[0137] The safety factor n for combined stress is calculated using the following formula. eq :

[0138]

[0139] To ensure the combined stress of the shaft, n must be satisfied. eq ≥1.5.

[0140] S2043: For the bearing in the multibody dynamics model of the gearbox, calculate the rated dynamic load and equivalent load of the bearing, and determine the bearing life based on the rated dynamic load and equivalent load. When the bearing life meets the preset bearing duration, the bearing is deemed to meet the requirements.

[0141] In this embodiment, the rated dynamic load C of the bearing is calculated using the following formula:

[0142] C = f c ·i·d B 1.8

[0143] Among them, f c Here, is the bearing type and structural coefficient, i is the number of rolling elements in the bearing, and d is... B This is the inner diameter of the bearing.

[0144] The equivalent load P of the bearing is calculated using the following formula:

[0145] P = X·F r +Y·F a

[0146] Among them, F r For radial load; F a X represents the axial load; X and Y are the radial and axial load coefficients provided by the bearing manufacturer.

[0147] S2044: The gearbox multibody dynamics model is deemed to meet the requirements when each gear, shaft, and bearing in the gearbox multibody dynamics model meets the requirements.

[0148] S205: The simulated gearbox multibody dynamics model that meets the requirements is determined as the constructed gearbox multibody dynamics model.

[0149] In one possible implementation, the generator multibody dynamics model is constructed through the following steps S301-S304:

[0150] S301: Construct the simulation structure of the generator multibody dynamics model; wherein, the simulation structure of the generator multibody dynamics model includes stator core, rotor core, stator winding, rotor winding, and main shaft.

[0151] In this embodiment, the actual wind turbine generator parameters are obtained from the actual wind turbine design manual, the geometric shape of the generator multibody dynamics model is constructed using 3D modeling software, and the various parts are assembled into an assembly.

[0152] S302: Select the appropriate materials for the stator core, rotor core, stator winding, rotor winding, and main shaft, respectively.

[0153] In this embodiment, the materials for the stator core, rotor core, stator winding, and rotor winding are selected based on the instruction manual of the actual generator unit.

[0154] S303: Perform torsional strength verification, bending strength verification, and combined stress verification on the main shaft to determine whether the material selected for the generator multibody dynamics model can meet the strength verification requirements.

[0155] In this embodiment, since the materials of the stator core, rotor core, stator winding, and rotor winding in the generator multibody dynamics model can all be obtained from the specification, and they do not bear the role of transmitting loads, only the torsional strength, bending strength, and combined stress of the generator's main shaft are checked to ensure that the selected materials can meet the strength check requirements.

[0156] S304: When the material selected for the generator multibody dynamics model can meet the strength verification requirements, construct the coupling model according to the diameter of the main shaft.

[0157] Specifically, when performing step S304 to construct the coupling model based on the diameter of the main shaft, the following steps can be followed:

[0158] S3041: Determine the parameters of the coupling model based on the diameter of the main shaft and the diameter of the high-speed shaft to construct the simulation structure of the coupling model.

[0159] In this embodiment, the parameters of the coupling model are determined based on the diameter of the main shaft in the generator multibody dynamics model and the diameter of the high-speed shaft in the gearbox multibody dynamics model, and the geometric shape of the coupling model is constructed using three-dimensional modeling software based on these two parameters.

[0160] S3042: Select the appropriate material for the coupling model.

[0161] S3043: Perform torsional strength verification, bending strength verification, and combined stress verification on the coupling model to determine whether the material selected for the coupling model meets the strength verification requirements.

[0162] S3044: When the material selected for the coupling model meets the strength verification requirements, the coupling model is used to connect the main shaft to the high-speed shaft in the gearbox multibody dynamics model.

[0163] In this embodiment, the coupling model serves to connect the gearbox multibody dynamics model and the generator multibody dynamics model, facilitating load transfer between the two models. The gearbox multibody dynamics model transmits the generator's rotor angular velocity to the main shaft of the generator multibody dynamics model via the coupling model, while the generator multibody dynamics model transmits the actual value of the electromagnetic torque to the high-speed shaft of the gearbox multibody dynamics model via the coupling model.

[0164] In one possible implementation, the cascaded extended simulation method of the wind turbine drive chain is applied to the cascaded extended simulation system of the wind turbine drive chain; the cascaded extended simulation system of the wind turbine drive chain includes a first server, a generator, and a discriminator; the three-dimensional turbulent wind field is generated by the simulated inflow wind model;

[0165] After constructing the first-level dynamic simulation model of the wind turbine generator set and the second-level dynamic simulation model of the multibody dynamics of the transmission chain, the cascaded extended simulation method of the wind turbine transmission chain can be executed according to the following steps S401-S404:

[0166] S401: Deploy the simulated inflow wind model, the wind turbine generator's first-level dynamic simulation model, and the transmission chain multibody dynamics second-level dynamic simulation model on the first server. Allocate computing resources to each of the three models on the first server so that they can run using their respective allocated computing resources. During the operation of these models, test whether they can operate normally.

[0167] In this embodiment, after constructing the inflow wind model, the first-level dynamic simulation model of the wind turbine generator, and the second-level dynamic simulation model of the multibody dynamics of the transmission chain, these models are encapsulated into independent containers using Docker container technology, and resource allocation between containers is managed using container orchestration tools. CPU cores are allocated to each model container, and computing resources are dynamically allocated according to demand. After separating the various physical field models through containerization technology, an integrated simulation platform can be deployed on a first server (e.g., a single computer or server).

[0168] S402: After the test wind model, the first-level dynamic simulation model of the wind turbine generator set, and the second-level dynamic simulation model of the multibody dynamics of the transmission chain can be tested and run normally, the trained generator is used to generate simulated wind condition data for multiple wind turbine generator sets.

[0169] S403: Use the trained discriminator to judge the authenticity of each simulated wind condition data generated by the generator, remove simulated wind condition data that does not meet the authenticity requirements, and retain simulated wind condition data that meets the authenticity requirements.

[0170] In this embodiment, the discriminator's task is to distinguish the authenticity of the input simulated wind condition data. It classifies the input data and outputs a probability value of 0 or 1, representing "false" or "true" respectively.

[0171] S404: Cluster the simulated wind condition data that meet the requirements of realism, so as to group the simulated wind condition data with similar wind conditions into one category, and obtain the simulated wind condition data corresponding to each type of wind condition.

[0172] In this embodiment, the K-means clustering algorithm is used to cluster simulated wind condition data that meet the requirements of realism, so as to group simulated wind condition data with similar wind conditions into one class and obtain simulated wind condition data corresponding to different types of wind conditions.

[0173] Specifically, K data points are randomly selected from simulated wind conditions that meet the accuracy requirements as initial cluster centers. These data points serve as the center points of the initial clusters. The distance from each simulated wind condition data point to each cluster center is calculated, and the data point is assigned to the nearest cluster. For each cluster, the mean of all simulated wind condition data points within the cluster is recalculated as the new cluster center. This results in clusters corresponding to various typical wind conditions, with each cluster containing simulated wind condition data for that typical wind condition.

[0174] In one possible implementation, the generator and discriminator are trained in the following way:

[0175] Initial simulation wind condition data for multiple wind turbine units are generated using an initial generator to be trained;

[0176] Real wind condition data and initial simulated wind condition data are input into the initial discriminator to be trained. The loss value of the initial discriminator is calculated based on the discrimination result of the initial discriminator, which represents the authenticity of the wind condition data. The learnable parameters in the initial discriminator are updated through the backpropagation algorithm. Similarly, the loss value of the initial generator is calculated based on the discrimination result of the initial discriminator, which represents the authenticity of the initial simulated wind condition data. The learnable parameters in the initial generator are updated through the backpropagation algorithm. The steps are repeated to generate initial simulated wind condition data for multiple wind turbine units using the initial generator to be trained, and the subsequent steps are performed until the loss value of the initial generator is less than the first preset loss value and the loss value of the initial discriminator is also less than the first preset loss value. At this point, the training ends, and the trained generator and discriminator are obtained.

[0177] In one possible implementation, the cascaded extended simulation system for the wind turbine drivetrain also includes a host computer and a second server. The host computer and the second server are communicatively connected. After the test inflow and outflow wind model, the first-level dynamic simulation model of the wind turbine, and the second-level dynamic simulation model of the multibody dynamics of the drivetrain can operate normally, the following steps S501-S502 can be executed:

[0178] S501: Deploy the inflow wind model to the host computer, and deploy the first-level dynamic simulation model of the wind turbine and the second-level dynamic simulation model of the multibody dynamics of the transmission chain to the second server.

[0179] S502: Send the simulated wind data corresponding to different wind conditions to the host computer, so that the host computer can input the simulated wind data into the inflow wind model and output the three-dimensional turbulent wind field corresponding to the simulated wind data through the inflow wind model.

[0180] In step S102, the wind turbine's first-stage dynamic simulation model outputs standard values ​​of total aerodynamic torque and generator electromagnetic torque to the transmission chain's second-stage multibody dynamics dynamic simulation model based on the input three-dimensional turbulent wind field. This is done to drive the transmission chain's second-stage multibody dynamics dynamic simulation model during operation. The specific steps are as follows:

[0181] S1021: The three-dimensional turbulent wind field corresponding to the simulated wind condition data output by the host computer is transmitted to the second server, so that the second server inputs the three-dimensional turbulent wind field corresponding to the simulated wind condition data into the dynamic simulation model of the wind turbine's first-level operation.

[0182] S1022: The first-level dynamic simulation model of the wind turbine unit outputs the standard values ​​of the total aerodynamic torque and generator electromagnetic torque corresponding to the simulated wind conditions to the second-level dynamic simulation model of the multibody dynamics of the transmission chain, based on the three-dimensional turbulent wind field corresponding to the input simulated wind conditions data, so as to drive the operation of the second-level dynamic simulation model of the multibody dynamics of the transmission chain.

[0183] In this embodiment, after executing step S103, the following steps S1041-S1043 can also be executed:

[0184] S1041: Collect the vibration characteristics and load characteristics of each component in the gearbox corresponding to each simulated wind condition data;

[0185] S1042: Train the neural network model of the gearbox using the vibration characteristics and load characteristics of each component in the gearbox corresponding to each collected simulated wind condition data, and obtain the trained gearbox neural network model.

[0186] S1043: Deploy the gearbox neural network model to the second server and replace the gearbox multibody dynamics model deployed on the second server with the gearbox neural network model.

[0187] In this embodiment, load and vibration signals under different wind conditions are used as training sets to train a deep neural network for time series data prediction.

[0188] In one possible implementation, after obtaining the trained gearbox neural network model, the gearbox neural network model is deployed to a second server, replacing the gearbox multibody dynamics model deployed on the second server.

[0189] In this embodiment, since the gearbox neural network model runs faster than the gearbox multibody dynamics model, replacing the gearbox multibody dynamics model with the gearbox neural network model is beneficial to improving the model's running speed.

[0190] In one possible implementation, the dynamic simulation model of the wind turbine's first-level operation includes: aerodynamic system node finite element model, tower finite element model, pitch system lumped parameter model, transmission system lumped parameter model, generator lumped parameter model, three-phase power grid, torque controller, pitch controller, turbine-side converter, and grid-side converter.

[0191] like Figure 2 As shown, during the operation of the wind turbine's first-level dynamic simulation model, the aerodynamic system finite element model receives the three-dimensional turbulent wind field and the actual pitch angle β sent by the pitch system lumped parameter model, and sends the total aerodynamic torque T to the transmission system lumped parameter model. r The system sends the component of the total aerodynamic torque along the radial direction of the blades to the tower finite element model and receives the aerodynamic force on the tower top node from the tower finite element model. Based on the component of the total aerodynamic torque along the radial direction of the blades and the aerodynamic force on the tower top node, the forward and backward thrust F exerted by the aerodynamic system on the tower top is calculated. t ;

[0192] The tower finite element model is used to receive the three-dimensional turbulent wind field and the component of the total aerodynamic torque along the radial direction of the blades from the aerodynamic system finite element model. Based on the component of the total aerodynamic torque along the radial direction of the blades and the aerodynamic force on the tower top node, the forward and backward thrust F exerted by the aerodynamic system on the tower top is calculated. t ;

[0193] The lumped parameter model of the transmission system is used to receive the generator electromagnetic torque T sent by the lumped parameter model of the generator. e And the total aerodynamic torque T received from the finite element model of the aerodynamic system r And send the wind turbine rotor speed ω to the pitch controller r Send the generator's rotor angular velocity ω to the torque controller g Send the generator's rotor angular velocity ω to the generator lumped parameter model. g Send the total aerodynamic torque T to the multibody dynamics model of the gearbox r ;

[0194] The generator lumped parameter model is used to send the actual value T of the generator electromagnetic torque to the transmission system lumped parameter model. e And the rotor angular velocity ω of the generator sent by the lumped parameter model of the transmission system. g The q-axis current i of the generator rotor sent by the machine-side converter rq ;

[0195] The lumped parameter model of the pitch system is used to send the actual pitch angle β to the finite element model of the aerodynamic system, and to receive the standard pitch angle β sent by the pitch controller. * ;

[0196] The pitch controller is used to receive the one-dimensional scalar wind speed and the rotor speed ω from the lumped parameter model of the transmission system. r And send the standard value β of the pitch angle to the lumped parameter model of the pitch system. * ;

[0197] The torque controller receives the generator's rotor angular velocity ω from the lumped parameter model of the drive system. g And the standard value of the generator electromagnetic torque sent to the generator-side converter. Send the standard value of the generator electromagnetic torque to the generator multibody dynamics model

[0198] The generator-side converter receives the DC bus voltage provided by the grid-side converter and the standard value of the generator electromagnetic torque sent by the torque controller. And send the generator rotor's q-axis current i to the generator lumped parameter model. rq ;

[0199] The grid-side converter is used to provide DC bus voltage to the generator-side converter.

[0200] In one possible implementation, the finite element model of the pneumatic system is constructed through the following steps S601-S605:

[0201] S601: For each wind turbine blade in the wind turbine unit, determine the position of each blade node in the wind turbine blade according to the first preset number of nodes and the length of the wind turbine blade.

[0202] In this embodiment, such as Figure 4 As shown, a wind turbine typically contains three rotor blades. For each rotor blade, based on the first preset number of nodes and the length of the rotor blade, the first preset number of blade nodes are evenly distributed on the rotor blade to determine the position of each blade node in the rotor blade.

[0203] S602: Construct the blade node aerodynamic expression; wherein, the blade node aerodynamic expression is used to output the aerodynamic force of each blade node in the wind turbine blade based on the input air density and the wind speed, force-bearing area, lift coefficient, drag coefficient and windward angle at the blade node.

[0204] In this embodiment, the aerodynamic expression for the blade nodal point is:

[0205]

[0206] In the above expression, u, v, and w represent the first, second, and third perpendicular directions, respectively; for example... Figure 2 As shown, the first direction u is perpendicular to the plane where the wind turbine blades are located, and the plane formed by the second direction v and the third direction w is parallel to the plane where the wind turbine blades are located, and the third direction is a direction perpendicular to the ground and upward.

[0207] ρ a Indicates air density; l represents blade nodal point l; u l v l w l These represent the wind speeds at blade node l in the first, second, and third directions, respectively. C represents the force-bearing area at blade node l; L,l and C D,l These are the lift coefficient and drag coefficient at blade node l, respectively; θ l The angle of attack at blade node l; F u aero,l F v aero,l F w aero,l These are the aerodynamic forces at blade node l in the first, second, and third directions, respectively.

[0208] S603: Construct the aerodynamic moment expression; wherein, the aerodynamic moment expression is used to output the aerodynamic moment of the blade node based on the input aerodynamic force of the blade node and the distance between the blade node and the root of the wind turbine blade.

[0209] In this embodiment, the global coordinate system (u,v,w) is transformed into the local coordinate system (α,β,γ) of the blade node using the following coordinate transformation formula:

[0210]

[0211] Where ψ∈[0,2π]; N is the blade parameter, N=0 for wind turbine blade 1, N=1 for wind turbine blade 2, and N=2 for wind turbine blade 3.

[0212] Local coordinate system (α,β,γ) as follows Figure 4 As shown, α is the axial direction along the wind turbine blade; β is the radial direction along the wind turbine blade, that is, the direction perpendicular to the plane where the wind turbine blade is located; γ is the direction perpendicular to the edge of the wind turbine blade.

[0213] The expression for aerodynamic torque is:

[0214] dT r,l =F γ aero,l ·r l

[0215] dTr,l F is the aerodynamic torque at blade node l; γ aero,l Let r be the component of the aerodynamic force at blade node l along the γ direction, where γ is the direction perpendicular to the blade; l This is the distance between leaf node l and leaf root.

[0216] S604: Construct the total aerodynamic moment expression; where the total aerodynamic moment expression is used to sum the aerodynamic moments of all blade nodes on all wind turbine blades to obtain the total aerodynamic moment of all wind turbine blades.

[0217] The expression for the total aerodynamic torque is:

[0218]

[0219] Where n is the total number of leaf nodes, T r This is the total aerodynamic torque.

[0220] S605: Construct the blade root bending moment expression; where the blade root bending moment expression is used to calculate the blade root bending moment of all wind turbine blades based on the aerodynamic force of each blade node in all wind turbine blades and the distance between each blade node in each wind turbine blade and the blade root of the wind turbine blade; the finite element model of the aerodynamic system nodes is composed of the total aerodynamic moment expression and the blade root bending moment expression.

[0221] In this embodiment, the expression for the leaf root bending moment is:

[0222]

[0223] Among them, F β aero,l M represents the component of the aerodynamic force at blade node l along the β direction, where the β direction is along the radial direction of the wind turbine blade; root The bending moment at the leaf root.

[0224] In one possible implementation, the tower finite element model is constructed through the following steps S606-S608:

[0225] S606: For the tower in a wind turbine, determine the position of each tower node in the tower according to the second preset number of nodes and the length of the tower.

[0226] In this embodiment, such as Figure 4 As shown, based on the second preset number of nodes and the length of the tower, the second preset number of tower nodes are evenly distributed on the tower, thereby determining the position of each tower node in the tower.

[0227] S607: Construct the aerodynamic expression for the tower node; wherein, the aerodynamic expression for the tower node is used to output the aerodynamic force of the tower node for each tower node based on the input air density, the tower drag coefficient, and the scalar wind speed and windward area at the tower node.

[0228] In this embodiment, the aerodynamic expression for the tower node is:

[0229]

[0230] Where j is the tower node j; F external,j ρ is the aerodynamic force at tower node j; a Indicates air density; C is the scalar wind speed at node j of the tower; D A is the drag coefficient of the tower; j The windward area at the tower node;

[0231] S608: Based on the mass matrix, damping matrix, and stiffness matrix of the tower, a finite element model of the tower is constructed; the finite element model of the tower is used to calculate the vibration displacement of each tower node according to the aerodynamic force of each tower node.

[0232] In this embodiment, the finite element model of the tower is as follows:

[0233]

[0234] Among them, M t C t and K t These are the preset mass matrix, damping matrix, and stiffness matrix of the tower; F external It is a vector containing the aerodynamic forces of all tower nodes in the tower; u t It is a vector containing the vibration displacements of all tower nodes in the tower.

[0235] In one possible implementation, the generator lumped parameter model is constructed through the following steps S701-S703:

[0236] S701: For the generator stator and generator rotor in a wind turbine, obtain the d-axis current and q-axis current of the generator stator and generator rotor in the dq rotating coordinate system.

[0237] S702: Construct the flux linkage equation of the generator stator in the dq rotating coordinate system; wherein, the flux linkage equation of the generator stator is used to calculate the flux linkage of the generator stator based on the self-inductance of the generator stator, the mutual inductance between the generator stator and the generator rotor, and the d-axis current and q-axis current of the generator stator and the generator rotor.

[0238] In this embodiment, the flux linkage equations of the generator stator and the generator rotor are as follows:

[0239] ψ sd =L s i sd +L m i rd

[0240] ψ sq =L s i sq +L m i rq

[0241] ψ rd =L r i rd +L m i sd

[0242] ψ rq =L r i rq +L m i sq

[0243] Among them, L s and L r It is the self-inductance of the generator stator and generator rotor; L m The mutual inductance between the generator stator and the generator rotor; i sd i sq i rd i rq These are the d-axis current and q-axis current of the generator stator and rotor, respectively; ψ sd ψ sq These are the magnetic flux linkages of the generator stator; ψ rd ψ rq These are the magnetic flux linkages of the generator rotor.

[0244] S703: Construct a lumped parameter model for the generator; wherein, the lumped parameter model is used to calculate the electromagnetic torque of the generator based on the number of pole pairs and the flux linkage of the generator stator.

[0245] In this embodiment, the generator lumped parameter model is as follows:

[0246]

[0247] Where p is the number of pole pairs of the generator, T e This refers to the electromagnetic torque of the generator.

[0248] In one possible implementation, the pitch system lumped parameter model is constructed through the following steps: constructing the pitch system lumped parameter model; wherein the pitch system lumped parameter model is used to calculate the actual value of the pitch angle based on the input standard value of the pitch angle.

[0249] In this embodiment, the pitch motor is equivalent to a first-order inertial element, and the lumped parameter model of the pitch system is as follows:

[0250]

[0251] Where, τ p β is the time constant of the pitch actuator; * β(t) is the standard value of the pitch angle; β(t) is the actual value of the pitch angle.

[0252] In one possible implementation, the lumped parameter model of the transmission system is constructed through the following steps: constructing the lumped parameter model of the transmission system; wherein, the lumped parameter model of the transmission system is used to calculate the rotor speed of the wind turbine and the rotor speed of the generator based on the input aerodynamic torque of the wind turbine and the electromagnetic torque of the generator; the gearbox is located in the transmission system of the wind turbine.

[0253] In this embodiment, the lumped parameter model of the transmission system is as follows:

[0254]

[0255] Among them, T r and T e These represent the total aerodynamic torque of the wind turbine blades and the electromagnetic torque of the generator, respectively; ω r and ω g T represents the rotor speed of the wind turbine and the rotor angular velocity of the generator; shaft J is the equivalent intermediate shaft torque; r and J g δ represents the moment of inertia of the wind turbine rotor and the generator rotor. r and δ g δ represents the angular displacement on the rotor side of the wind turbine and the rotor side of the generator. p N represents the gearbox slip rate. gear For gearbox gear ratio; A stif and B damp These are the equivalent intermediate shaft stiffness coefficient and damping coefficient.

[0256] In one possible implementation, the inflow model is constructed through the following steps S801-S8010:

[0257] S201: Construct an expression for the relationship between turbulence intensity and inflow wind; wherein, the expression for the relationship between turbulence intensity and inflow wind is used to represent the correlation between the average wind speed of the inflow wind at the hub of the wind turbine, the standard deviation of the inflow wind speed, and the turbulence intensity.

[0258] In this embodiment, the expression for the relationship between turbulence intensity and inflow wind is:

[0259]

[0260] In this formula, I represents the turbulence intensity; U Ref σ represents the average wind speed of the inflow wind at the hub of the wind turbine; σ represents the standard deviation of the inflow wind speed, which reflects the degree of random fluctuation in wind speed.

[0261] S802: Based on the height of the hub, determine the length of the turbulent integral scale in three mutually perpendicular directions in the three-dimensional turbulent wind field; wherein, the three mutually perpendicular directions are the first direction, the second direction, and the third direction, the first direction is the direction perpendicular to the plane where the wind turbine blades are located, the plane formed by the second direction and the third direction is parallel to the plane where the wind turbine blades are located, and the third direction is the direction perpendicular to the ground and upward.

[0262] In this embodiment, the turbulent integral scale lengths in three mutually perpendicular directions in the three-dimensional turbulent wind field are determined according to the following formula:

[0263] L u =0.7·H

[0264] L v =0.5·L u

[0265] L w =0.35·L v

[0266] In this formula, L u L v L w The integral lengths of the turbulence scales in the first direction (u direction), the second direction (v direction), and the third direction (w direction) are respectively; H is the height of the hub.

[0267] S803: Based on the Kaimal turbulence spectrum, average wind speed, standard deviation of inflow wind speed in three directions, turbulence integral scale length in three directions, and frequency, calculate the turbulence power spectral density in three directions; where the frequency range is determined by Shannon sampling theorem.

[0268] In this embodiment, the turbulent power spectral density in the three directions is calculated using the following formula:

[0269]

[0270] Where f is the frequency, i.e., the independent variable of the frequency-domain wind speed in the three directions (u, v, w) during the total simulation time T. Its range can be determined by the following Shannon sampling theorem:

[0271]

[0272] Assume there are N in total x With time steps, we can derive T=N x If Δt is constant, then the frequency increment Δf can be expressed as Δf = 1 / T. It can be deduced that within the total simulation time T, there are N... x / 2 frequency points.

[0273] S u (f),S v (f),S w (f) represents the turbulent power spectral density in the first direction (u direction), the second direction (v direction), and the third direction (w direction) at frequency f, respectively; σ u σ v σ w These are the standard deviations along the first direction (u direction), the second direction (v direction), and the third direction (w direction), respectively.

[0274] S804: Determine the three-dimensional grid of the three-dimensional turbulent wind field based on the swept area of ​​the wind turbine blades.

[0275] In this embodiment, a three-dimensional mesh for the three-dimensional turbulent wind field is defined based on the swept area of ​​the wind turbine blades. For example... Figure 5 As shown, the three-dimensional mesh of the three-dimensional turbulent wind field is composed of N x Composed of parallel two-dimensional wind grids ( Figure 5 Only three two-dimensional wind grids are shown in the image, each with a size of N. y ×N z ( Figure 5 The image shows a 3×3 two-dimensional wind grid. Where N... y and N z These represent the number of grid cells in the wind field along the first direction (v-direction) and the second direction (w-direction), respectively. That is, the shape of the three-dimensional grid of the three-dimensional turbulent wind field is N. x ×N y ×N z .

[0276] S805: Calculate the wind speed components in the frequency domain in the three directions based on the turbulent power spectral density and frequency increments in the three directions.

[0277] In this embodiment, to ensure the randomness of wind speed, a random phase is generated at each grid point of the three-dimensional grid of the three-dimensional turbulent wind field. It is a random number in the interval [0, 2π]. Given a frequency resolution of Δf, for each frequency f and each direction (i.e., u, v, w directions), the wind speed components in the frequency domain are generated using the following formula:

[0278]

[0279] in, is the frequency domain wind speed component in the u direction at frequency f; j,k represents the grid point located in the j-th row and k-th column in the two-dimensional wind grid. It is the wind speed component in the frequency domain in the direction of v at frequency f; It is the wind speed component in the frequency domain at frequency f in the w direction.

[0280] S806: Perform a Fourier transform on the wind speed component in the frequency domain at each grid point in the three-dimensional grid to obtain the wind speed component in the time domain at each grid point in the three-dimensional grid.

[0281] In this embodiment, the wind speed component in the frequency domain at each grid point is calculated using the following formula. Perform a Fourier transform to obtain the time-domain wind speed component at each grid point:

[0282]

[0283] Where m represents the m-th time step. This represents the wind speed component in the u direction for the grid point in the j-th row and k-th column of the two-dimensional wind grid corresponding to the m-th time step. This represents the time-domain wind speed component in the v direction for the grid point in the j-th row and k-th column of the two-dimensional wind grid corresponding to the m-th time step. This represents the time-domain wind speed component in the w direction for the grid point in the j-th row and k-th column of the two-dimensional wind grid corresponding to the m-th time step.

[0284] S807: Calculate the coherence coefficient between two points based on the turbulence integral scale length in three directions and the distance between two points in the second and third directions in the three-dimensional grid.

[0285] In this embodiment, the distances between two points a and b on the grid in the v and w directions are defined as Δy, respectively. ab Δz ab The spatial coherence model can be written as:

[0286]

[0287] Where, ρ ab This represents the coherence coefficient between two points a and b in a 3D mesh.

[0288] S808: Construct the covariance matrix and perform Cholesky decomposition on the covariance matrix.

[0289] In this embodiment, let the covariance matrix be C, which can be expressed as:

[0290]

[0291] To incorporate spatial correlation into the initial uncorrelated wind speed field, the covariance matrix C is decomposed using Cholesky decomposition, i.e., C = LL. T .

[0292] S809: Construct a vector of wind speeds for all grid points without introducing coherence.

[0293] In this embodiment, when the time step is equal to t, Z(t) is a vector composed of the unintroduced coherent wind speeds of all grid points within the current time step:

[0294]

[0295] S8010: The Cholesky decomposition matrix is ​​used to perform a linear transformation on the vector formed by the uncoherent wind speeds of all grid points to obtain the inflow wind model.

[0296] In this embodiment, to introduce the spatial coherence of the three-dimensional turbulent wind field, the Cholesky decomposition matrix L is used to perform a linear transformation on the wind speed vector Z, which does not introduce spatial coherence, to obtain the inflow wind model as follows:

[0297] V(t)=Z(t)L T

[0298] At this point, each element in vector V represents the wind speed vector corresponding to each grid point at the current sampling time. Using the method described above, the wind speed at each grid point at the current sampling time can be obtained.

[0299] In one possible implementation, such as Figure 6 As shown, when the one-dimensional scalar wind speed V eff wind speed greater than rated speed V rated At that time, the torque controller calculates the generator's rated power P. rated With generator rotor speed P rated The ratio of these values ​​yields the standard value of the generator's electromagnetic torque. Right now:

[0300]

[0301] The generator-side converter calculates the standard value of the generator electromagnetic torque based on the torque controller. Calculate the q-axis component i of the rotor current rqThe generator lumped parameter model uses the q-axis component i of the rotor current calculated from the generator-side converter. rq Calculate the actual value T of the generator's electromagnetic torque. e ;

[0302] When the one-dimensional scalar wind speed V eff wind speed greater than rated speed V rated At that time, the pitch controller uses a PI control strategy based on the received wind turbine rotor speed ω. r Calculate the product N of the wind turbine rotor speed and the gearbox speed ratio. g And calculate the product N. g With the rated speed ω of the generator rotor rated The difference between them; when this difference is not equal to 0, the pitch controller determines the wind turbine rotor speed ω based on the received value. r Calculate the standard value β of the pitch angle based on the rated speed of the generator rotor. * The lumped parameter model of the pitch system is based on the standard value β of the pitch angle calculated by the pitch controller. * Calculate the actual value of the pitch angle β; calculate the aerodynamic torque T of the wind turbine based on the actual value of the pitch angle β calculated from the lumped parameter model of the pitch system using the finite element model of the aerodynamic system. r The lumped parameter model of the transmission system calculates the aerodynamic torque T of the wind turbine based on the finite element model of the aerodynamic system. r Calculate the wind turbine rotor speed ω r The pitch controller continues to adjust according to the received rotor speed ω. r Calculate the wind turbine rotor speed ω r Multiply by the gearbox gear ratio and calculate the product N. g With the rated speed ω of the generator rotor rated The difference between the wind turbine rotor speed and the generator rotor speed is calculated. When the difference is not equal to 0, the pitch controller continues to calculate the standard value of the pitch angle and subsequent steps based on the received wind turbine rotor speed and generator rotor rated speed, until the difference is equal to 0, and then stops to obtain the final wind turbine rotor speed.

[0303] When the one-dimensional scalar wind speed V eff Less than or equal to the rated wind speed V rated At that time, the torque controller calculates the standard value of the generator electromagnetic torque according to the OTC torque control strategy. The generator-side converter calculates the standard value of the generator electromagnetic torque based on the torque controller. Calculate the q-axis component i of the rotor current rq The generator lumped parameter model uses the q-axis component i of the rotor current calculated from the generator-side converter. rq Calculate the actual value T of the generator's electromagnetic torque. e ;

[0304] When the one-dimensional scalar wind speed V eff Less than or equal to the rated wind speed V rated At that time, the standard value β of the pitch angle output by the pitch controller is equal to 0.

[0305] In this embodiment, the OTC torque control strategy is as follows:

[0306]

[0307] In the aforementioned OTC torque control strategy, ω cut-in ω1 is the cut-in speed, corresponding to the speed at which the wind speed is cut in; ω2 is the transition speed corresponding to the maximum power point tracking phase; ω3 is the transition speed corresponding to the rated power holding phase; ω4 is the speed at which the wind speed is cut in. rated The rated speed of the wind turbine rotor; k opt These are the coefficients for the maximum power point tracking phase.

[0308] It is worth noting that the rated speed of the generator rotor is different from the generator rotor speed. The rated speed of the generator rotor is a specific parameter designed at the time of manufacture and is a fixed value; the generator rotor speed is the real-time speed of the generator.

[0309] In the embodiments provided in this application, it should be understood that the embodiments described above are merely illustrative. For example, the division of the system is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple systems or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some communication interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0310] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0311] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0312] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0313] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims.

Claims

1. A cascaded extended simulation method for wind turbine drive trains, characterized in that, The method includes: A first-level dynamic simulation model of the wind turbine generator set and a second-level dynamic simulation model of the transmission chain multibody dynamics are constructed. The second-level dynamic simulation model of the transmission chain multibody dynamics includes a sequentially linked multibody dynamic model of the gearbox, a coupling model, and a generator multibody dynamic model. The wind turbine generator's first-level dynamic simulation model and the transmission chain's multibody dynamics second-level dynamic simulation model are jointly operated so that the wind turbine generator's first-level dynamic simulation model outputs the standard values ​​of total aerodynamic torque and generator electromagnetic torque to the transmission chain's multibody dynamics second-level dynamic simulation model based on the input three-dimensional turbulent wind field, thereby driving the transmission chain's multibody dynamics second-level dynamic simulation model to operate. During operation, the transmission chain multibody dynamics level two dynamic simulation model outputs the vibration characteristics and load characteristics of each component in the gearbox based on the input total aerodynamic torque and the generator electromagnetic torque obtained from the generator multibody dynamics model through the coupling model; and the generator multibody dynamics model outputs the actual value of the generator electromagnetic torque based on the input standard value of the generator electromagnetic torque and the generator rotor angular velocity obtained from the gearbox multibody dynamics model through the coupling model.

2. The method according to claim 1, characterized in that, The process of constructing the multibody dynamics model of the gearbox includes: The simulation structure of the gearbox multibody dynamics model is constructed; wherein, the simulation structure of the gearbox multibody dynamics model includes the gearbox housing, the first-stage planetary gear train, the second-stage planetary gear train, the third-stage parallel gear train, the intermediate shaft, the high-speed shaft, and the corresponding bearings; Based on the preset total transmission ratio, the transmission ratio of each gear in the first-stage planetary gear train, the second-stage planetary gear train, and the third-stage parallel gear train is determined so that the transmission ratio of each gear in the gearbox satisfies the total transmission ratio. Select appropriate materials for each component in the multibody dynamics model of the gearbox; The gear strength, shaft strength, and bearing life in the gearbox multibody dynamics model are verified to determine whether the simulated gearbox multibody dynamics model meets the requirements. The simulated gearbox multibody dynamics model that meets the requirements is determined as the constructed gearbox multibody dynamics model.

3. The method according to claim 2, characterized in that, The process of constructing the generator multibody dynamics model includes: Construct the simulation structure of the generator multibody dynamics model; wherein, the simulation structure of the generator multibody dynamics model includes stator core, rotor core, stator winding, rotor winding, and main shaft; Select appropriate materials for the stator core, the rotor core, the stator winding, the rotor winding, and the main shaft, respectively. The main shaft is subjected to torsional strength verification, bending strength verification, and combined stress verification to determine whether the material selected for the generator multibody dynamics model can meet the strength verification requirements. When the material selected for the generator multibody dynamics model can meet the strength verification requirements, the coupling model is constructed according to the diameter of the main shaft; The step of constructing the coupling model based on the diameter of the main shaft includes: Based on the diameter of the main shaft and the diameter of the high-speed shaft, the parameters of the coupling model are determined to construct the simulation structure of the coupling model; Select appropriate materials for the coupling model; The coupling model is subjected to torsional strength verification, bending strength verification, and combined stress verification to determine whether the material selected for the coupling model meets the strength verification requirements. When the material selected for the coupling model meets the strength verification requirements, the coupling model is used to connect the main shaft to the high-speed shaft in the gearbox multibody dynamics model.

4. The method according to claim 2, characterized in that, The first-stage planetary gear train includes a low-speed shaft, a sun gear, multiple planet gears, and an internal gear ring; the second-stage planetary gear train includes a second-stage planet carrier, a sun gear, multiple planet gears, and an internal gear ring; the third-stage parallel gear train includes a third-stage large gear and a third-stage small gear. The internal gear ring in the first-stage planetary gear train and the internal gear ring in the second-stage planetary gear train are hinged to the gearbox housing. The gearbox housing is hinged to the low-speed shaft, the second-stage planetary carrier, the intermediate shaft, and the high-speed shaft respectively through spring damping force elements. In the first-stage planetary gear train, multiple planetary gears are hinged to the low-speed shaft via spring damping elements. Multiple planetary gears are also connected to the sun gear and the internal gear ring via spring damping elements. The sun gear is also hinged to the second-stage planetary carrier. In the second-stage planetary gear train, the second-stage planetary carrier is hinged to multiple planetary gears via spring damping elements, and the multiple planetary gears are also connected to the sun gear and the internal gear ring via spring damping elements. In the three-stage parallel gear train, the third-stage large gear and the third-stage small gear are connected by a spring damping force element; the intermediate shaft is hinged to the third-stage small gear and the sun gear in the second-stage planetary gear train; the high-speed shaft is also hinged to the third-stage small gear.

5. The method according to claim 2, characterized in that, The verification of gear strength, shaft strength, and bearing life in the gearbox multibody dynamics model to determine whether the simulated gearbox multibody dynamics model meets the requirements includes: For each gear in the multibody dynamics model of the gearbox, the root bending strength and tooth surface contact strength of the gear are calculated. When the root bending strength and tooth surface contact strength of the gear are less than the preset allowable bending strength and the preset allowable contact strength, the gear is determined to meet the requirements. For each shaft in the multibody dynamics model of the gearbox, the shear strength, bending strength, and combined stress of the shaft are calculated. When the shear strength of the shaft is greater than the preset allowable shear stress, the bending strength is greater than the preset bending strength, and the combined stress is greater than the preset allowable combined stress, the shaft is determined to meet the requirements. For the bearing in the multibody dynamics model of the gearbox, calculate the rated dynamic load and equivalent load of the bearing, and determine the bearing life based on the rated dynamic load and equivalent load. When the bearing life meets the preset bearing duration, it is determined that the bearing meets the requirements. When each gear, shaft, and bearing in the gearbox multibody dynamics model meets the requirements, the gearbox multibody dynamics model is deemed to meet the requirements.

6. The method according to claim 1, characterized in that, The method is applied to a cascaded extended simulation system for wind turbine drivetrain; the cascaded extended simulation system for wind turbine drivetrain includes a first server, a generator, and a discriminator; the three-dimensional turbulent wind field is generated from a simulated inflow wind model; After constructing the first-level dynamic simulation model of the wind turbine generator set and the second-level dynamic simulation model of the multibody dynamics of the transmission chain, the method further includes: The simulated inflow wind model, the wind turbine generator first-stage dynamic simulation model, and the transmission chain multibody dynamics second-stage dynamic simulation model are deployed on a first server. On the first server, computing resources are allocated to each of these models to ensure they operate using their respective allocated resources. During the operation of these models, their ability to function normally is tested. After testing and confirming that the inflow wind model, the wind turbine generator first-level dynamic simulation model, and the transmission chain multibody dynamics second-level dynamic simulation model can operate normally, the trained generator is used to generate multiple simulated wind condition data of the wind turbine generator. The trained discriminator is used to judge the authenticity of each simulated wind condition data generated by the generator, and the simulated wind condition data that does not meet the authenticity requirements are removed, while the simulated wind condition data that meets the authenticity requirements are retained. Clustering is performed on the simulated wind condition data that meet the requirements of realism, so that simulated wind condition data with similar wind conditions are grouped into one category, and simulated wind condition data corresponding to different types of wind conditions are obtained.

7. The method according to claim 6, characterized in that, The cascaded extended simulation system for the wind turbine drive train also includes a host computer and a second server, and the method further includes: The inflow wind model is deployed to the host computer, and the first-level dynamic simulation model of the wind turbine generator and the second-level dynamic simulation model of the multibody dynamics of the transmission chain are deployed to the second server. The simulated wind data corresponding to different wind conditions are sent to the host computer, so that the host computer inputs the simulated wind data into the inflow wind model respectively, and outputs the three-dimensional turbulent wind field corresponding to the simulated wind data through the inflow wind model; The step of enabling the wind turbine's first-level dynamic simulation model to output standard values ​​of total aerodynamic torque and generator electromagnetic torque to the transmission chain's second-level multibody dynamics dynamic simulation model based on the input three-dimensional turbulent wind field, thereby driving the transmission chain's second-level multibody dynamics dynamic simulation model, includes: The host computer transmits the three-dimensional turbulent wind field corresponding to the simulated wind condition data output by the inflow wind model to the second server, so that the second server inputs the three-dimensional turbulent wind field corresponding to the simulated wind condition data into the dynamic simulation model of the wind turbine's first-level operation. The wind turbine's first-level dynamic simulation model outputs the standard values ​​of the total aerodynamic torque and generator electromagnetic torque corresponding to the simulated wind conditions to the transmission chain multibody dynamics second-level dynamic simulation model based on the three-dimensional turbulent wind field corresponding to the input simulated wind conditions data, so as to drive the transmission chain multibody dynamics second-level dynamic simulation model to operate. The method further includes: Collect the vibration characteristics and load characteristics of each component in the gearbox corresponding to each of the simulated wind conditions; The neural network model of the gearbox is trained using the vibration characteristics and load characteristics of each component in the gearbox corresponding to each of the collected simulated wind conditions data, and a trained gearbox neural network model is obtained. The gearbox neural network model is deployed to the second server, and the gearbox multibody dynamics model deployed on the second server is replaced with the gearbox neural network model.

8. The method according to claim 1, characterized in that, The wind turbine's first-level dynamic simulation model includes: aerodynamic system finite element model, tower finite element model, pitch system lumped parameter model, transmission system lumped parameter model, generator lumped parameter model, three-phase power grid, torque controller, pitch controller, turbine-side converter, and grid-side converter. During operation, the dynamic simulation model of the wind turbine unit's first-level operation uses the aerodynamic system finite element model to receive the three-dimensional turbulent wind field and the actual value of the pitch angle sent by the pitch system lumped parameter model. It also sends the total aerodynamic torque to the transmission system lumped parameter model, sends the component of the total aerodynamic torque along the radial direction of the blades to the tower finite element model, and receives the aerodynamic force on the tower top node sent by the tower finite element model. Based on the component of the total aerodynamic torque along the radial direction of the blades and the aerodynamic force on the tower top node, it calculates the forward and backward thrust of the aerodynamic system to the tower top. The tower finite element model is used to receive the three-dimensional turbulent wind field and the component of the total aerodynamic torque along the radial direction of the blades sent by the aerodynamic system finite element model, and to calculate the forward and backward thrust of the aerodynamic system to the tower top based on the component of the total aerodynamic torque along the radial direction of the blades and the aerodynamic force on the tower top node. The lumped parameter model of the transmission system is used to receive the electromagnetic torque of the generator sent by the lumped parameter model of the generator, and the total aerodynamic torque sent by the finite element model of the aerodynamic system, as well as to send the wind turbine rotor speed to the pitch controller, the rotor angular velocity of the generator to the torque controller, the rotor angular velocity of the generator to the lumped parameter model of the generator, and the total aerodynamic torque to the gearbox multibody dynamics model. The generator lumped parameter model is used to send the actual value of the generator electromagnetic torque to the transmission system lumped parameter model, and to receive the generator rotor angular velocity and the generator rotor q-axis current sent by the generator-side converter from the transmission system lumped parameter model. The lumped parameter model of the pitch system is used to send the actual value of the pitch angle to the finite element model of the aerodynamic system, and to receive the standard value of the pitch angle sent by the pitch controller. The pitch controller is used to receive a one-dimensional scalar wind speed, receive the wind turbine rotor speed from the lumped parameter model of the transmission system, and send the standard value of the pitch angle to the lumped parameter model of the pitch system. The torque controller is used to receive the generator rotor angular velocity sent by the lumped parameter model of the transmission system, and to send the standard value of the generator electromagnetic torque to the generator-side converter and the standard value of the generator electromagnetic torque to the generator multibody dynamics model. The generator-side converter is used to receive the DC bus voltage provided by the grid-side converter, receive the standard value of the generator electromagnetic torque sent by the torque controller, and send the q-axis current of the generator rotor to the generator lumped parameter model. The grid-side converter is used to provide DC bus voltage to the machine-side converter.

9. The method according to claim 8, characterized in that, The finite element model of the pneumatic system was constructed using the following method: For each wind turbine blade in the wind turbine unit, the position of each blade node in the wind turbine blade is determined according to the first preset number of nodes and the length of the wind turbine blade; Construct a blade node aerodynamic expression; wherein, the blade node aerodynamic expression is used to output the aerodynamic force of each blade node in the wind turbine blade based on the input air density and the wind speed, force-bearing area, lift coefficient, drag coefficient and windward angle at the blade node. Construct an aerodynamic moment expression; wherein, the aerodynamic moment expression is used to output the aerodynamic moment of the blade node based on the input aerodynamic force of the blade node and the distance between the blade node and the blade root of the wind turbine blade; Construct a total aerodynamic moment expression; wherein, the total aerodynamic moment expression is used to sum the aerodynamic moments of all blade nodes on all the wind turbine blades to obtain the total aerodynamic moment of all the wind turbine blades; A blade root bending moment expression is constructed; wherein, the blade root bending moment expression is used to calculate the blade root bending moment of all the wind turbine blades based on the aerodynamic force of each blade node in all the wind turbine blades and the distance between each blade node in each wind turbine blade and the blade root of the wind turbine blade; the aerodynamic system node finite element model is composed of the total aerodynamic moment expression and the blade root bending moment expression; The finite element model of the tower was constructed using the following method: For the tower of the wind turbine, the position of each tower node in the tower is determined according to the second preset number of nodes and the length of the tower. Construct the aerodynamic expression for the tower node; wherein, the aerodynamic expression for the tower node is used to output the aerodynamic force of the tower node for each tower node based on the input air density, the tower drag coefficient, and the scalar wind speed and windward area at the tower node. Based on the mass matrix, damping matrix, and stiffness matrix of the tower, a finite element model of the tower is constructed; the finite element model of the tower is used to calculate the vibration displacement of each tower node according to the aerodynamic force of each tower node. The generator lumped parameter model was constructed using the following method: For the generator stator and generator rotor in the wind turbine, obtain the d-axis current and q-axis current of the generator stator and generator rotor in the dq rotating coordinate system; In the dq rotating coordinate system, the flux linkage equation of the generator stator is constructed; wherein, the flux linkage equation of the generator stator is used to calculate the flux linkage of the generator stator based on the self-inductance of the generator stator, the mutual inductance between the generator stator and the generator rotor, and the d-axis current and q-axis current of the generator stator and the generator rotor. Construct the lumped parameter model of the generator; wherein, the lumped parameter model of the generator is used to calculate the electromagnetic torque of the generator based on the number of pole pairs of the generator and the magnetic flux linkage of the generator stator; The lumped parameter model of the pitch system is used to calculate the actual value of the pitch angle based on the standard value of the input pitch angle. The lumped parameter model of the transmission system is used to calculate the rotor speed of the wind turbine and the rotor speed of the generator based on the input aerodynamic torque of the wind turbine and the electromagnetic torque of the generator.

10. The method according to claim 8, characterized in that, When the one-dimensional scalar wind speed is greater than the rated wind speed, the torque controller calculates the ratio of the generator's rated power to the generator's rotor speed to obtain the standard value of the generator's electromagnetic torque; the generator-side converter calculates the q-axis component of the rotor current based on the standard value of the generator's electromagnetic torque calculated by the torque controller; the generator lumped parameter model calculates the actual value of the generator's electromagnetic torque based on the q-axis component of the rotor current calculated by the generator-side converter. When the one-dimensional scalar wind speed is greater than the rated wind speed, the pitch controller uses a PI control strategy to calculate the product of the wind turbine rotor speed and the gearbox gear ratio based on the received wind turbine rotor speed, and calculates the difference between this product and the rated speed of the generator rotor. When this difference is not equal to 0, the pitch controller calculates the standard value of the pitch angle based on the received wind turbine rotor speed and the rated speed of the generator rotor. The lumped parameter model of the pitch system calculates the actual value of the pitch angle based on the standard value of the pitch angle calculated by the pitch controller. The finite element model of the aerodynamic system calculates the actual value of the pitch angle based on the value of the pitch angle calculated by the lumped parameter model of the pitch system. The actual value of the pitch angle is used to calculate the aerodynamic torque of the wind turbine. The lumped parameter model of the transmission system calculates the wind turbine rotor speed based on the aerodynamic torque calculated by the finite element model of the aerodynamic system. The pitch controller continues to calculate the product of the wind turbine rotor speed and the gearbox gear ratio based on the received wind turbine rotor speed, and calculates the difference between this product and the rated speed of the generator rotor. When the difference is not equal to 0, the pitch controller continues to calculate the standard value of the pitch angle and subsequent steps based on the received wind turbine rotor speed and the rated speed of the generator rotor, until the difference is equal to 0, and the final wind turbine rotor speed is obtained. When the one-dimensional scalar wind speed is less than or equal to the rated wind speed, the torque controller calculates the standard value of the generator electromagnetic torque according to the OTC torque control strategy; the generator-side converter calculates the q-axis component of the rotor current according to the standard value of the generator electromagnetic torque calculated by the torque controller; the generator lumped parameter model calculates the actual value of the generator electromagnetic torque according to the q-axis component of the rotor current calculated by the generator-side converter. When the one-dimensional scalar wind speed is less than or equal to the rated wind speed, the standard value of the pitch angle output by the pitch controller is equal to 0.

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