Wind turbine generator simulation test platform and method

Abstract

The invention discloses a wind turbine generator simulation test platform and method, and belongs to the technical field of simulation test. The platform comprises a real-time simulation system, a core controller, a real-time simulation upper computer and a controller upper computer. Multidisciplinary joint simulation of the transmission chain test platform is realized by constructing a mechanical multi-body model, an electrical system model and a state feedback data model, the mechanical multi-body model simulates mechanical loads based on multi-body dynamics and a modal synthesis method, and the electrical system model covers characteristics of a converter and a power grid. The state feedback data model provides a sensor signal and fault injection function. The core controller interacts with the simulation system in real time through a hardware-in-the-loop architecture, and executes control instruction generation, safety protection logic and dynamic response verification. The problems that in a traditional test, control logic verification is not comprehensive, and mechanical load dynamic characteristics are difficult to reproduce are solved, the test risk and cost are remarkably reduced, and the iteration efficiency of a control algorithm and the test scene coverage capacity are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of simulation testing, and in particular relates to a wind turbine simulation testing platform and method. Background Art

[0002] As the capacity and scale of wind turbines continue to increase, the difficulty and cost of type certification and testing have increased. In recent years, in order to achieve factory testing and basic function verification of large-capacity units, domestic and foreign equipment manufacturers and research institutions have established transmission chain test platforms and carried out mechanical load and some electrical performance tests on key components or subsystems.

[0003] The transmission chain ground test platform is composed of multiple subsystems, including traction motor, traction frequency conversion system, coupling, hydraulic loading device, wind turbine transmission system under test, power grid model device, water cooling system, oil source system, UPS, etc. It also includes the corresponding control system. The operating conditions of each subsystem must meet the requirements before it can meet the operating conditions. The main function of the platform control system is to coordinate various components to put the platform into operation based on the status feedback of each subsystem and the timing control logic. During the loading process, loading instructions are generated and executed according to requirements, and real-time safety protection is performed to execute the corresponding protection logic. In some scenarios or working condition tests, the mechanical load of large equipment is an important consideration. Large load fluctuations should be avoided, and the impact of breaking the limit design load should also be reduced. The impact of the test on the platform should also be reduced. Therefore, in the development stage of the platform control system and before the test, the function and working condition simulation of the control system and the reliable operation of the platform are carried out to complete the load verification of the mechanical structure and the verification of key control functions. The control instruction generation strategy and safety protection logic of the platform core controller need to be fully verified to ensure the reliability of the platform operation. Before the formal test, simulation verification is required to ensure the safety of the platform operation in the set test scenario to see whether the load or impact of the platform is within the design or expected range. Summary of the invention

[0004] The object of the present invention is to provide a wind turbine simulation test platform and method to solve the problem of verifying the core controller of the platform in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: In a first aspect, the present invention provides a wind turbine simulation test platform, comprising: A real-time simulation system is used to construct simulation models of each key subsystem according to the modeling environment; wherein each simulation model includes a mechanical multi-body model, an electrical system model and a state feedback data model; The core controller is used to send control instructions to each simulation model according to the test scenario, obtain feedback data after each simulation model receives the corresponding control instruction, and execute corresponding safety protection logic control according to the obtained feedback data; The real-time simulation host computer is used to provide a modeling environment for the real-time simulation system, set feedback data of the state feedback data model, and inject faults into the state feedback data model after the state feedback data model receives the control instruction of the core controller; The controller host computer is used to send instructions to the core controller, obtain feedback data after each simulation model receives the corresponding control instructions, and obtain the execution status of the safety protection logic control of the core controller, and determine the control function detection result of the core controller according to the execution status of the safety protection logic control and the feedback data.

[0006] Furthermore, the mechanical multi-body model includes a drag motor model, a coupling model and a non-axially loaded actuator model, as well as a transmission chain model of the unit under test; The traction motor model is connected to the transmission chain model of the unit under test through a coupling model; The drag motor model is used to drag the transmission chain model of the unit under test to run according to the control instruction of the core controller; the control instruction received by the drag motor model is the speed; The non-axial loading actuator model is used to load non-axial loading force and torque to the transmission chain model of the unit under test according to the control instruction of the core controller; the control instruction received by the non-axial loading actuator model is the non-axial loading force and torque.

[0007] Furthermore, the electrical system model includes a motor model of the unit under test, a converter system model and a power grid model; The motor model of the unit under test is connected to the power grid model through the converter system model; The motor model of the unit under test is used to generate the electromagnetic torque of the generator according to the rotation speed of the transmission chain model of the unit under test.

[0008] Further, the state feedback data model is used to send feedback data to the core controller; the feedback data sent by the state feedback data model includes at least one of constant data, fault signals, communication signals and time-varying signals; The feedback data sent by the state feedback data model is generated according to the received control instructions and / or the faults injected by the real-time simulation host computer; or, the feedback data sent by the state feedback data model is adjusted according to the settings of the real-time simulation host computer.

[0009] Furthermore, the constant data include temperature signals, vibration signals, oil source system level signals and water volume signals of the water cooling system of the unit under test, and displacement signals of the non-axially loaded actuator; Among them, the temperature signal includes at least one of the stator temperature signal of the generator of the tested unit, the bearing temperature signal of the generator of the tested unit, the water inlet temperature signal of the water cooling system of the tested unit and the water outlet temperature signal of the water cooling system of the tested unit; the vibration signal includes at least one of the vibration signal of the support of the generator of the tested unit, the vibration signal of the support of the tested unit and the vibration signal of the support of the non-axial loading device.

[0010] Furthermore, the fault signal includes at least one of a traction motor frequency conversion system fault signal, a power grid model fault signal, a measured unit transmission chain fault signal, a non-axial loading actuator control system fault signal and an auxiliary system fault signal.

[0011] Furthermore, the communication signal is a communication heartbeat signal between the simulation model of each key subsystem and the core controller.

[0012] Furthermore, the time-varying signal includes at least one of a coupling model torque strain output signal, a power grid model power, and a force feedback signal of a non-axially loaded actuator.

[0013] A second aspect of the present invention provides a simulation test method, comprising the following steps: The real-time simulation system constructs simulation models of each key subsystem according to the modeling environment; wherein each simulation model includes a mechanical multi-body model, an electrical system model and a state feedback data model; The core controller sends control instructions to each simulation model according to the test scenario, obtains feedback data from each simulation model after receiving the corresponding control instruction, and executes corresponding safety protection logic control according to the obtained feedback data; The real-time simulation host computer provides a modeling environment for the real-time simulation system and injects faults into the state feedback data model after the state feedback data model receives the control instruction of the core controller; The controller host computer obtains the feedback data after each simulation model receives the corresponding control instruction, and obtains the execution status of the safety protection logic control of the core controller, and determines the control function detection result of the core controller according to the execution status of the safety protection logic control and the feedback data.

[0014] A third aspect of the present invention provides a simulation test method, comprising the following steps: After the simulation test is started and before the core controller sends a control command, the state feedback data model is used to receive and forward the preset feedback data to the core controller and the controller host computer, triggering the core controller self-check; based on the matching of the self-check result and the preset feedback data, the effectiveness of the core controller's self-check function is determined; After the self-test passes, the core controller is driven to generate control instructions according to the preset test scenario, and sent to the mechanical multi-body model and the electrical system model; based on the load output of the mechanical multi-body model and the change of electrical quantity of the electrical system model, the control instructions are verified to be reasonable; Verification of safety protection logic control includes: injecting faults into the state feedback data model and the fault alarm function of the core controller during the no-load or loading process of the simulation model; during the normal operation of the simulation model, the state feedback data model generates constant data or time-varying signals set by the real-time simulation host computer and sends them to the core controller to verify the data feedback over-limit function of the core controller; during the loading process of each simulation model, the communication heartbeat between the state feedback data model and the core controller is set to zero to verify the communication disconnection protection function of the core controller; during the startup, loading or shutdown stage of the simulation model, the feedback data of the mechanical multi-body model or the electrical system model is tampered to verify the control protection function of the core controller; during the loading process of each simulation model, instructions that conflict with the operating status of the simulation model are sent to the core controller to verify the control instruction over-limit function of the core controller.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: By constructing a joint simulation environment of mechanical multi-body model, electrical system model and state feedback data model, dynamic coupling simulation of subsystems such as traction motor, loading device and converter system is realized, and the logic of platform startup timing control and loading instruction coordination is fully reproduced. The accuracy of the core controller's state judgment and collaborative control of multiple subsystems is verified, reducing the risk of operation failure caused by logic conflicts in actual debugging.

[0016] Through the dynamic simulation of the mechanical multi-body model, the load data such as torque, vibration, strain, etc. are output in real time. Combined with the modal synthesis method, the rapid solution is realized to realize the preview and verification of the load during the loading process, ensuring that the test load is within the design safety range and avoiding mechanical damage to the actual platform caused by overload impact.

[0017] A hardware-in-the-loop simulation architecture for the core controller of the transmission chain test platform is proposed. The platform's electrical characteristics, mechanical response and sensor feedback are simulated through a real-time simulation system, a control closed loop consistent with the actual working conditions is constructed, and the full-process control strategy from no-load start-up to dynamic loading is verified, solving the problem that traditional methods cannot cover platform-level control logic.

[0018] The fault injection function is used to trigger protection logic tests in a virtual environment to expose control defects in advance and reduce physical equipment damage caused by protection failure. At the same time, some type certification test items are replaced by simulation to shorten the certification cycle.

[0019] Through the state feedback data model, constant data, time-varying signals, and simulated communication interruptions are dynamically configured to realistically reproduce the boundary conditions and abnormal operating conditions in actual tests, ensuring the robustness of the core controller in extreme scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 This is an architecture diagram of a wind turbine simulation test platform according to Embodiment 1 of the present invention; Figure 2 This is a simplified logic diagram of a wind turbine simulation test method according to Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0021] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0022] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0023] The present invention proposes a wind turbine simulation test platform and method, which can use the simulation environment to perform scene previews, build a functional test and verification environment for the core controller, accelerate design iterations, and avoid safety failures in actual applications, loads exceeding design limits, and the like.

[0024] Example 1 like Figure 1 As shown, an embodiment of the present invention provides a wind turbine simulation test platform, including: The real-time simulation system is used to construct simulation models of each key subsystem according to the modeling environment; wherein each simulation model includes a mechanical multi-body model, an electrical system model and a state feedback data model.

[0025] The core controller is used to send control instructions to each simulation model according to the test scenario, obtain feedback data after each simulation model receives the corresponding control instruction, and execute corresponding safety protection logic control according to the obtained feedback data.

[0026] The real-time simulation host computer is used to provide a modeling environment for the real-time simulation system, set feedback data of the state feedback data model, and inject faults into the state feedback data model after the state feedback data model receives the control instruction of the core controller.

[0027] The controller host computer is used to send instructions to the core controller, obtain feedback data after each simulation model receives the corresponding control instructions, and obtain the execution status of the safety protection logic control of the core controller, and determine the control function detection result of the core controller based on the safety protection logic control execution status and feedback data.

[0028] In one embodiment, the real-time simulation system can provide a peripheral environment for the core controller.

[0029] In this solution, the simulation step of the real-time simulation system adopts a fixed step. As an example, the simulation step of each simulation model in the real-time simulation system can be uniformly set to 20 microseconds; or, each simulation model can be set to a different simulation step, for example, the simulation step of the electrical system model is set to 20 microseconds, and the simulation step of the mechanical multi-body model is set to 1~5ms. When different simulation step operations are used, the refresh rate of the data interface between the mechanical multi-body model and the electrical system model is the simulation step of the mechanical multi-body model.

[0030] In one embodiment, the mechanical multi-body model is obtained by performing main body mechanical structure dynamics modeling on the traction motor, coupling, non-axial loading actuator and transmission chain of the unit under test, which can realize mechanical multi-body dynamics simulation and output the loads corresponding to the traction motor, coupling, non-axial loading actuator and transmission chain of the unit under test.

[0031] Specifically, the mechanical multi-body model includes a traction motor model, a coupling model, a non-axial loading actuator model, and a transmission chain model of the unit under test; the traction motor model and the transmission chain model of the unit under test are connected through a coupling model; the traction motor model, the non-axial loading actuator model and the transmission chain model of the unit under test can receive control instructions, including speed, torque, non-axial loading force and moment, etc.; the traction motor model is used to drag the transmission chain model of the unit under test according to the control instructions of the core controller, and the control instruction received by the traction motor model is the speed; the non-axial loading actuator model is used to load non-axial loading force and moment to the transmission chain model of the unit under test according to the control instructions of the core controller, and the control instruction received by the non-axial loading actuator model is non-axial loading force and moment. Considering the real-time computing requirements, the mechanical multi-body model can be modeled using beam units and multi-mass block models, and analyzed and solved using the modal synthesis method.

[0032] In one embodiment, the electrical system model includes a motor model of the unit under test, a converter system model and a power grid model; the motor model of the unit under test is connected to the power grid model through the converter system model; the converter system includes an average value model of back-to-back converter power devices and a corresponding converter control algorithm; the power grid model includes a voltage source, impedance and transformer model using Thevenin equivalent. The motor model of the unit under test is used to generate a generator electromagnetic torque according to the rotation speed of the transmission chain model of the unit under test, and the grid-connected characteristics of the wind turbine unit end are obtained through the electrical system model.

[0033] In one embodiment, a state feedback data model is used to send feedback data to a core controller; the feedback data sent by the state feedback data model includes at least one of constant data, fault signals, communication signals and time-varying signals; wherein the feedback data sent by the state feedback data model is generated based on received control instructions and / or faults injected by a real-time simulation host computer; or, the feedback data sent by the state feedback data model is obtained by adjusting the settings of the real-time simulation host computer.

[0034] It should be noted that the state feedback data model is mainly used to build data models for the water cooling system, oil source system and generator of the unit under test, as well as the non-axial loading actuator control system, coupling strain acquisition, etc.; the state feedback data model also provides control logic for equipment that is difficult to model in detail, such as the power grid model, traction motor frequency conversion system and the transmission chain control system of the unit under test, thereby providing a complete operating environment for the core controller.

[0035] As an example, the constant data include temperature signals, vibration signals, oil source system liquid level signals, water volume signals of the water cooling system of the unit under test, and displacement signals of non-axial loading actuators; wherein the temperature signal includes at least one of the stator temperature signal of the generator of the unit under test, the bearing temperature signal of the generator of the unit under test, the water inlet temperature signal of the water cooling system of the unit under test, and the water outlet temperature signal of the water cooling system of the unit under test; the vibration signal includes at least one of the vibration signal of the support of the generator of the unit under test, the vibration signal of the support of the unit under test, and the vibration signal of the support of the non-axial loading device.

[0036] As an example, the fault signal mainly simulates the fault and alarm signals of the mechanical multi-body model and the electrical system model, specifically including at least one of the fault signal of the traction motor frequency conversion system, the fault signal of the power grid model, the fault signal of the transmission chain of the tested unit, the fault signal of the non-axial loading actuator control system and the fault signal of the auxiliary system. The auxiliary system may include a UPS system, etc.

[0037] As an example, the communication signal is a communication heartbeat signal between the simulation model of each key subsystem and the core controller.

[0038] As an example, the time-varying signal includes at least one of a coupling model torque strain output signal, a power grid model power, and a force feedback signal of a non-axially loaded actuator.

[0039] Specifically, the force feedback signal of the non-axial loading actuator is mainly the displacement signal of the six cylinders of the non-axial hydraulic loading. The power grid model power is mainly the active power feedback signal of the power grid model.

[0040] Among them, the calculation expression of the displacement signal is: F i = F act + F error ; In the formula, F i is the force feedback signal of the i-th cylinder, F act represents the force simulation value of the mechanical multi-body model on the i-th cylinder, F error It is the sum of measurement error and artificial simulation error. The measurement error is the error collected by the sensor, and the artificial simulation error is the error caused by the algorithm.

[0041] The torque strain output signal expression of the coupling model is: T c = T meas + T w + T error ; In the formula, T c Indicates the coupling torque strain output signal, T meas is the multi-body dynamics calculation value at the coupling, T w is the noise signal, T error is a fixed error signal.

[0042] The active power feedback signal expression of the power grid model is: P PEGS =W DM * T DM 98% K PEGS ; In the formula, P PEGS Represents the active power of the power grid model, W DM , T DM They are the real-time speed and torque of the model simulation of the drag motor side. K PEGSis the efficiency compensation ratio of the power grid model.

[0043] It should be noted that the real-time simulation system communicates with the core controller through a communication protocol, and the real-time simulation system communicates with the real-time simulation host computer through a communication protocol; the communication protocol is such as Modbus TCP / IP, OPC, UDP, etc.

[0044] The core controller adopts PLC controller with built-in control algorithm.

[0045] The real-time simulation system is also equipped with a data communication model, which is mainly used to provide data interfaces, manage communication protocols, and realize data interaction. For example, the data interaction communication rate between the real-time simulation system and the real-time simulation host computer is 1~100ms. The data communication rate between the real-time simulation system and the core controller is no higher than 10ms.

[0046] The working principle of the wind turbine simulation test platform is as follows: The real-time simulation system constructs simulation models of each key subsystem according to the modeling environment; wherein each simulation model includes a mechanical multi-body model, an electrical system model and a state feedback data model; The core controller sends control instructions to each simulation model according to the test scenario, obtains feedback data from each simulation model after receiving the corresponding control instruction, and executes corresponding safety protection logic control according to the obtained feedback data; The real-time simulation host computer provides a modeling environment for the real-time simulation system and injects faults into the state feedback data model after the state feedback data model receives the control instruction of the core controller; The controller host computer obtains the feedback data after each simulation model receives the corresponding control instruction, and obtains the execution status of the safety protection logic control of the core controller, and determines the control function detection result of the core controller according to the execution status of the safety protection logic control and the feedback data.

[0047] Example 2 like Figure 2 As shown, based on the same inventive concept as that of Embodiment 1, Embodiment 2 further provides a simulation test method, including: (1) Self-check phase verification: After the simulation test is started and before the core controller sends a control command, the state feedback data model is used to receive and forward the preset feedback data to the core controller and the controller host computer, triggering the core controller self-check; based on the matching of the self-check result and the preset feedback data, the effectiveness of the core controller's self-check function is determined; (2) Verification of rationality of control instructions: After the self-test passes, the core controller is driven to generate control instructions according to the preset test scenario, and sent to the mechanical multi-body model and the electrical system model; based on the load output of the mechanical multi-body model and the change of electrical quantity of the electrical system model, the control instructions are verified to be reasonable; (3) Safety protection logic control verification, including: During the no-load or loading process of the simulation model, faults are injected into the state feedback data model to verify the fault alarm function of the core controller; during the normal operation of the simulation model, the state feedback data model generates constant data or time-varying signals set by the real-time simulation host computer and sends them to the core controller to verify the data feedback over-limit function of the core controller; during the loading process of each simulation model, the communication heartbeat between the state feedback data model and the core controller is set to zero to verify the communication disconnection protection function of the core controller; during the startup, loading or shutdown stage of the simulation model, the feedback data of the mechanical multi-body model or the electrical system model is tampered with to verify the control protection function of the core controller; during the loading process of each simulation model, instructions that conflict with the running status of the simulation model are sent to the core controller to verify the control instruction over-limit function of the core controller.

[0048] More specifically, the simulation test method of embodiment 2 includes the following steps: Before the simulation test is started, the core control parameters are configured through the controller host computer, including the information of the unit under test, the platform protection threshold, etc. The information of the unit under test may include the rated speed, rated power and torque range, etc. The platform protection threshold may include the speed range of the traction motor, the torque threshold of the drive chain of the unit under test, the force loading threshold of the non-axial loading actuator, and the thresholds such as the traction motor temperature, the temperature of the drive chain of the unit under test, and the cooling temperature of the water cooling system.

[0049] After the simulation test is started and before the core controller sends a control instruction, the real-time simulation system is already running but has not received the control instruction sent by the core controller; the state feedback data model receives the feedback data set by the real-time simulation host computer, and sends the feedback data set by the real-time simulation host computer to the core controller and the controller host computer respectively; the core controller performs a self-test after receiving the feedback data sent by the state feedback data model, and the controller host computer determines whether the self-test function of the core controller is normal based on the self-test result of the core controller and the feedback data sent by the state feedback data model; When the self-check function of the core controller is normal, the real-time simulation system runs without alarm failure, verifying whether the control instructions of the core controller are reasonable, and verifying whether the safety protection logic control of the core controller is reasonable; Verify whether the control instructions of the core controller are reasonable, including: Determine the test scenario of the core controller, and the core controller generates control instructions according to the test scenario and sends them to the mechanical multi-body model and the electrical system model; the core controller obtains feedback data from the mechanical multi-body model and the electrical system model, and determines whether the generated control instructions are reasonable according to the control instructions and the obtained feedback data; wherein the feedback data of the mechanical multi-body model is the load output, and the feedback data of the electrical system model is the change of electrical quantity; Verify whether the safety protection logic control of the core controller is reasonable, including: During the no-load rotation or loading process after the normal operation of each simulation model, the real-time simulation host computer injects a fault into the state feedback data model, and the state feedback data model generates feedback data corresponding to the fault and sends it to the core controller to verify the fault alarm function of the core controller; during the normal operation of each simulation model, the state feedback data model generates constant data or time-varying signals set by the real-time simulation host computer and sends them to the core controller to verify the data feedback over-limit function of the core controller; during the loading process of each simulation model, the real-time simulation host computer sets the communication heartbeat of the communication signal sent by the state feedback data model to the core controller to zero to verify the communication disconnection protection function of the core controller; during the startup, no-load, loading or shutdown stage of each simulation model, the state feedback data model modifies the actual feedback data of the mechanical multi-body model and the electrical system model according to the settings of the real-time simulation host computer to obtain feedback data of abnormal changes in the operating state; the state feedback data model sends the feedback data of abnormal changes in the operating state to the core controller to verify the control protection function of the core controller; during the normal operation of each simulation model, the controller host computer sends instructions that do not match the normal operation of each simulation model to the core controller to verify the control instruction over-limit function of the core controller.

[0050] In one embodiment, the state feedback data model generates a time-varying signal set by a real-time simulation host computer, mainly by modifying the variable coefficient of the time-varying signal, such as F error , T error , K PEGS wait.

[0051] The above method is based on the wind turbine simulation test platform. By configuring the parameters of the core controller before simulation and injecting faults in real time during simulation, a simulation study of the platform operation characteristics is carried out, covering the platform operation stages from startup preparation, startup, no-load operation, loading and shutdown.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A wind turbine simulation test platform, characterized in that: include: A real-time simulation system is used to construct simulation models of each key subsystem according to the modeling environment; wherein each simulation model includes a mechanical multi-body model, an electrical system model and a state feedback data model; The core controller is used to send control instructions to each simulation model according to the test scenario, obtain feedback data after each simulation model receives the corresponding control instruction, and execute corresponding safety protection logic control according to the obtained feedback data; The real-time simulation host computer is used to provide a modeling environment for the real-time simulation system, set feedback data of the state feedback data model, and inject faults into the state feedback data model after the state feedback data model receives the control instruction of the core controller; The controller host computer is used to send instructions to the core controller, obtain feedback data after each simulation model receives the corresponding control instructions, and obtain the execution status of the safety protection logic control of the core controller, and determine the control function detection result of the core controller according to the execution status of the safety protection logic control and the feedback data.

2. The wind turbine simulation test platform according to claim 1, characterized in that: The mechanical multi-body model includes the drag motor model, coupling model, non-axial loading actuator model, and the transmission chain model of the unit under test; The traction motor model is connected to the transmission chain model of the unit under test through a coupling model; The drag motor model is used to drag the transmission chain model of the unit under test to run according to the control instruction of the core controller; the control instruction received by the drag motor model is the speed; The non-axial loading actuator model is used to load non-axial loading force and torque to the transmission chain model of the unit under test according to the control instruction of the core controller; the control instruction received by the non-axial loading actuator model is the non-axial loading force and torque.

3. The wind turbine simulation test platform according to claim 2, characterized in that: The electrical system model includes the motor model of the unit under test, the converter system model and the power grid model; The motor model of the unit under test is connected to the power grid model through the converter system model; The motor model of the unit under test is used to generate the electromagnetic torque of the generator according to the rotation speed of the transmission chain model of the unit under test.

4. The wind turbine simulation test platform according to claim 3, characterized in that: The state feedback data model is used to send feedback data to the core controller; the feedback data sent by the state feedback data model includes at least one of constant data, fault signals, communication signals and time-varying signals; The feedback data sent by the state feedback data model is generated according to the received control instructions and / or the faults injected by the real-time simulation host computer; or, the feedback data sent by the state feedback data model is adjusted according to the settings of the real-time simulation host computer.

5. The wind turbine simulation test platform according to claim 4, characterized in that: The constant data include temperature signal, vibration signal, oil source system level signal and water volume signal of the water cooling system of the unit under test, as well as the displacement signal of the non-axial loading actuator; Among them, the temperature signal includes at least one of the stator temperature signal of the generator of the tested unit, the bearing temperature signal of the generator of the tested unit, the water inlet temperature signal of the water cooling system of the tested unit and the water outlet temperature signal of the water cooling system of the tested unit; the vibration signal includes at least one of the vibration signal of the support of the generator of the tested unit, the vibration signal of the support of the tested unit and the vibration signal of the support of the non-axial loading device.

6. The wind turbine simulation test platform according to claim 5, characterized in that: The fault signal includes at least one of a traction motor frequency conversion system fault signal, a power grid model fault signal, a tested unit transmission chain fault signal, a non-axial loading actuator control system fault signal and an auxiliary system fault signal.

7. The wind turbine simulation test platform according to claim 6, characterized in that: The communication signal is the communication heartbeat signal between the simulation model of each key subsystem and the core controller.

8. The wind turbine simulation test platform according to claim 7, characterized in that: The time-varying signal includes at least one of a coupling model torque strain output signal, a power grid model power, and a force feedback signal of a non-axially loaded actuator.

9. A simulation test method, implemented based on the wind turbine simulation test platform of claim 8, characterized in that: The steps include: The real-time simulation system constructs simulation models of each key subsystem according to the modeling environment; wherein each simulation model includes a mechanical multi-body model, an electrical system model and a state feedback data model; The core controller sends control instructions to each simulation model according to the test scenario, obtains feedback data from each simulation model after receiving the corresponding control instruction, and executes corresponding safety protection logic control according to the obtained feedback data; The real-time simulation host computer provides a modeling environment for the real-time simulation system and injects faults into the state feedback data model after the state feedback data model receives the control instruction of the core controller; The controller host computer obtains the feedback data after each simulation model receives the corresponding control instruction, and obtains the execution status of the safety protection logic control of the core controller, and determines the control function detection result of the core controller according to the execution status of the safety protection logic control and the feedback data.

10. A simulation test method, implemented based on the wind turbine simulation test platform according to claim 8, characterized in that: The steps include: After the simulation test is started and before the core controller sends a control command, the state feedback data model is used to receive and forward the preset feedback data to the core controller and the controller host computer, triggering the core controller self-check; based on the matching of the self-check result and the preset feedback data, the effectiveness of the core controller's self-check function is determined; After the self-test passes, the core controller is driven to generate control instructions according to the preset test scenario, and then sent to the mechanical multi-body model and electrical system model; Verify whether the control instructions are reasonable based on the load output of the mechanical multi-body model and the changes in the electrical quantities of the electrical system model; Verification of safety protection logic control includes: injecting faults into the state feedback data model and the fault alarm function of the core controller during the no-load or loading process of the simulation model; during the normal operation of the simulation model, the state feedback data model generates constant data or time-varying signals set by the real-time simulation host computer and sends them to the core controller to verify the data feedback over-limit function of the core controller; during the loading process of each simulation model, the communication heartbeat between the state feedback data model and the core controller is set to zero to verify the communication disconnection protection function of the core controller; during the startup, loading or shutdown stage of the simulation model, the feedback data of the mechanical multi-body model or the electrical system model is tampered to verify the control protection function of the core controller; during the loading process of each simulation model, instructions that conflict with the operating status of the simulation model are sent to the core controller to verify the control instruction over-limit function of the core controller.

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