Wind turbine generator visual modeling method considering aerodynamic parameters and mechanical characteristics

Abstract

The invention discloses a wind turbine generator visual modeling method considering aerodynamic parameters and mechanical characteristics. The wind turbine generator visual modeling method comprises the following steps that aerodynamic configuration parameters of blades of a wind turbine generator are calculated; establishing a physical model of the mechanical part of the wind turbine generator by utilizing the calculated aerodynamic configuration parameters; a yaw control execution mechanism and a variable pitch control execution mechanism are added for the built physical model of the mechanical part of the wind turbine generator set, and a complete mechanical model of the wind turbine generator set fully considering aerodynamic characteristics is formed; and performing electromechanical coupling on the complete mechanical model of the wind turbine generator fully considering the aerodynamic characteristics and the simplified electrical model to form the complete visual modeling method of the wind turbine generator considering the aerodynamic parameters and the mechanical characteristics. The method solves the problem that the traditional wind turbine generator set modeling technology neglects aerodynamic loss and causes non-fine evaluation of the inertia of the set, enhances the visibility and intuition of the modeling technology, reduces the control difficulty of the model while improving the operation speed, and provides technical support for application scenes such as fine evaluation of the inertia of the wind turbine generator set.

Description

Technical Field

[0001] The invention relates to the field of wind power generation, and in particular to a visual modeling method for a wind turbine generator set taking into account aerodynamic parameters and mechanical characteristics. Background Art

[0002] With the rapid development of the world economy, the corresponding energy demand has also increased, and traditional fossil energy is facing the threat of energy depletion. At the same time, environmental pollution is becoming more and more serious. In order to cope with the shortage of traditional fossil energy and the environmental pollution it brings, green energy has gradually emerged, and my country has also put forward requirements for energy security and green production. As a green renewable energy, wind power generation has been widely used and developed worldwide. According to statistics from the World Wind Energy Association, by the end of 2015, the total installed capacity of wind power in the world reached 432.4GW, of which the newly installed capacity in 2015 reached 63GW. China is the country with the largest installed capacity of wind power and the fastest development in the world. By the end of 2015, the total installed capacity of wind power reached 145.1GW, accounting for about 2.5% of my country's total installed capacity, with an annual growth rate of 26.6%.

[0003] For power systems, inertia refers to the ability of the system to maintain frequency stability when facing power disturbances. In traditional power systems, inertia mainly comes from the rotating parts of synchronous generators. When the power system faces power shortages or surpluses, the rotors of synchronous units release or absorb power accordingly by adjusting their own speed to maintain the system at the current frequency as much as possible. With a high proportion of new energy power generation equipment replacing traditional synchronous units for grid connection, the inertia of the power system has been severely weakened. On the one hand, photovoltaic power generation equipment does not have rotating elements and cannot provide inertia in the traditional sense. It can only provide virtual inertia for the system with various virtual inertia control strategies; on the other hand, although wind turbines have rotating elements, they and photovoltaic equipment rely on inverters for grid connection. The converter affects the coupling relationship between system frequency and wind turbine speed. Regardless of whether the system is operating at industrial frequency, wind turbines and photovoltaics will work in maximum power point tracking (MPPT) mode, and the active output will no longer change with the system frequency. The lack of inertia dynamic response capability caused by decoupling will increase the probability of large power shortages in the system. The low inertia problem caused by the large-scale grid connection of wind turbines and photovoltaics has caused many frequency safety accidents around the world, such as the "9.28" blackout in South Australia and the "8.9" blackout in the UK. Relevant scholars analyzed these two blackouts and believed that the lack of system inertia support capacity was one of the main causes of the two accidents. It can be seen that the inertia assessment of low-inertia power systems plays an important role in guiding the setting of new energy grid connection capacity and maintaining power system frequency safety.

[0004] In recent years, domestic and foreign scholars have mainly carried out research on the inertia of new energy sources around control strategies and frequency response characteristics analysis, but there is little research on the inertia characteristics of wind turbines themselves. The inertia of a wind turbine mainly comes from the kinetic energy generated by the rotation of the blades. Large wind turbine blades are key components in wind turbine equipment that convert wind energy into mechanical energy. Blade design is divided into aerodynamic design and structural design. Aerodynamic design involves the selection of the fan impeller diameter, number of blades, chord length of each section of the blade, thickness, torsion angle distribution and section airfoil. After the tip speed ratio and aerodynamic parameters of the fan blade are given, the required blade aerodynamic shape can be designed using the Betz theory or Schmitz theory. At present, the main theories for calculating blade shape parameters include Betz theory, Schmitz theory, etc. Betz theory only considers axial outflow losses, while Schmitz theory also considers the vortex losses generated downstream due to the rotating wake of the fan. This theory ignores blade shape losses and airflow losses around the blade tip. The Schmitz theory calculation method is closely related to the physical background. However, in the field of electrical engineering, the technical solutions for blades and wind turbines still face the following problems:

[0005] The performance of blades directly affects the efficiency of wind energy utilization. The traditional theoretical model is established under the condition that the wind turbine blades are infinitely long, but in fact the blades are of finite length. When the wind rotor rotates, the pressure on the lower surface of the lift wing is greater than the atmospheric pressure, and the pressure on the upper surface is less than the atmospheric pressure. The airflow at both ends of the blade flows from the high-pressure side to the low-pressure side to form a vortex. The airflow trajectory through the tip of the blade is a spiral line, so a spiral vortex will be formed at the tip of the blade. Most wind turbine simulation cases consider the aerodynamic loss process roughly, often ignoring the tip loss and rotation loss in the wind flow process, especially the influence of the aerodynamic parameters of the blades on the inertia characteristics of the unit, making it difficult to accurately evaluate the inertia of the wind turbine itself.

[0006] In the field of wind power, there are relatively few simulation technologies that use SimMechanics to build 3D visual models. The SimMechanics toolbox provides intuitive and effective modeling and analysis methods for multi-body power mechanical systems, and generates 3D animations of the system during the simulation process, which is more convenient for system analysis and verification. Most wind turbine modeling technology solutions are committed to building mathematical models with Simulink, which have problems such as unclear physical characteristics, lack of focus on the mechanical part of wind turbines, and unintuitive modeling and analysis methods, which invisibly raises the application threshold of related technologies.

[0007] In summary, in order to lower the application threshold of relevant modeling technologies in actual engineering scenarios, problems such as unclear physical characteristics and lack of intuitive simulation results in conventional wind turbine modeling technology need to be urgently solved; in addition, in order to more accurately clarify the inertia characteristics of the wind turbine itself, it is necessary to improve the traditional wind turbine modeling technology. Summary of the invention

[0008] In view of the technical problems existing in the prior art, the present invention proposes a visual modeling method for wind turbines taking into account aerodynamic parameters and mechanical characteristics, with the aim of increasing the focus on the mechanical dynamic characteristics of the unit and the aerodynamic parameter design of the blades during the modeling process, and solving the problem that traditional wind turbine modeling technology ignores aerodynamic losses and causes imprecise unit inertia evaluation.

[0009] The technical solutions adopted to realize the present invention are as follows:

[0010] A visual modeling method for a wind turbine taking into account aerodynamic parameters and mechanical characteristics comprises the following steps:

[0011] Calculate the aerodynamic shape parameters of wind turbine blades;

[0012] Using the calculated aerodynamic shape parameters, establish the physical model of the mechanical part of the wind turbine;

[0013] For the established physical model of the mechanical part of the wind turbine, the overall topology of the wind turbine has been formed. In order to further improve the aerodynamic characteristics and engineering practicality of the model, yaw control actuators and pitch control actuators are added to form a complete mechanical model of the wind turbine that fully considers the aerodynamic characteristics.

[0014] The complete mechanical model of the wind turbine that fully considers the aerodynamic characteristics is electromechanically coupled with the simplified electrical model to form a complete visual modeling method for wind turbines that takes into account aerodynamic parameters and mechanical characteristics.

[0015] Furthermore, the calculation of the aerodynamic shape parameters of the wind turbine blade refers to describing the relationship between the chord length of the blade section, the installation angle and the position of the section in the span direction of the blade through the Schmitz theory after the design tip speed ratio of the wind turbine blade and the aerodynamic parameters of the airfoil used are given.

[0016] Furthermore, the Schmitz theory is used to describe the relationship between the chord length of the blade section, the installation angle and the position of the section in the blade span direction, including the following steps:

[0017] In order to take into account the aerodynamic loss when the wind turbine obtains energy, the aerodynamic shape parameters of the wind turbine blades are derived using the velocity triangle of the upstream airflow, the blades and the downstream airflow of the wind turbine and the Schmitz theory.

[0018] After derivation, the basic parameters of the wind turbine blades are calculated, and the aerodynamic shape of the wind turbine blades can be constructed in sections.

[0019] Furthermore, the aerodynamic parameters of the blades are derived using the velocity triangle of the upstream airflow, the blades and the downstream airflow of the fan and the Schmitz theory, including the following:

[0020] Assuming that the change in tangential wind speed upstream of the impeller is 0 and the change in tangential wind speed downstream is Δu, calculate the circumferential wind speed at the blade;

[0021] According to the blade element-momentum theory, the lift force acting on the blade element is dL = ΔWdm, and the power P of the circumferential force is expressed as follows:

[0022] dP=2ρπr 2 v2ΩΔW sinφdr (1)

[0023] Wherein, ΔW is the change in the relative velocity of the airflow in the wind wheel plane, dm is the flow rate flowing through the ring element section, r is the distance to the impeller rotation center, Ω is the fan speed, φ is the wind angle, the same below;

[0024] According to the geometric relationship, the blade element power expression is as follows:

[0025] dP=rΩρ2πrdrW1 cos(φ1-φ)·sinφ2W1 sin(φ1-φ)sinφ (2)

[0026] Among them, W1 is the relative wind speed upstream of the impeller, and φ1 is the angle between it and the impeller plane;

[0027] make The lift force acting on the blade element is obtained as follows:

[0028]

[0029] According to the actual situation of the engineering scenario, the blade chord length is set to l(r) and the number of blades is n. According to the airfoil theory, the lift force on the blade element is expressed as follows:

[0030]

[0031] Where α is the design angle of attack of the blade, C l is the lift coefficient;

[0032] According to Schmitz theory, the power calculated by the momentum theorem on the blade element is equal to the power generated by the aerodynamic lift principle. Therefore, by combining the above two equations about dL, the chord length of the blade element is obtained as:

[0033]

[0034] Furthermore, establishing a physical model of the mechanical part of the wind turbine refers to building a mechanical model of the wind turbine blades, nacelle, hub and tower in the form of a Solid module based on the SimMechanics toolbox of Simulink, and then using the coordinate transformation module to organically connect the various rigid body parts to complete the physical modeling of the mechanical part of the wind turbine.

[0035] Furthermore, adding a yaw control actuator refers to establishing a yaw system model, including yaw control and a yaw actuator.

[0036] Furthermore, a yaw system model is established, which includes the yaw motor torque output T y , Yaw load moment T yl and the moment of inertia of the wind turbine around the yaw axis J y The dynamic equation is used to simulate the yaw control actuator; the impeller axis direction and wind direction signals are input into the yaw control, and the PI regulator is used to adjust the deviation angle between the two to generate a reference value for the yaw rate. Will The difference is calculated by the PI regulator to obtain the reference output torque T of the yaw motor. y * , using the reference torque as a command signal to control the yaw motor; wherein the yaw motor and its inverter are T y * The lag link is simplified as follows: yl It mainly includes the nacelle yaw moment and friction moment output by establishing the physical model of the mechanical part of the wind turbine set.

[0037] Furthermore, the additional variable pitch control actuator refers to establishing a variable pitch system model, inputting and executing the pitch angle command β for the variable pitch control module. * , use PI regulator to adjust β * The difference between the measured pitch value and the pitch rate command is output Then The difference between the measured value of the pitch speed and the torque command T of the pitch motor is output through PI regulation. p * The pitch motor is controlled by the pitch inverter, and the dynamics of the pitch control actuator can also be simulated by the relevant dynamic equations.

[0038] A visual modeling device for a wind turbine generator system taking into account aerodynamic parameters and mechanical characteristics, comprising:

[0039] A calculation module is used to calculate the aerodynamic shape parameters of the wind turbine blades;

[0040] Establishing a module for establishing a physical model of the mechanical part of the wind turbine using the calculated aerodynamic shape parameters;

[0041] The additional module is used to add a yaw control actuator and a pitch control actuator to the established physical model of the mechanical part of the wind turbine, so as to form a complete mechanical model of the wind turbine that fully considers the aerodynamic characteristics;

[0042] The coupling module is used to electromechanically couple the complete mechanical model of the wind turbine that fully considers the aerodynamic characteristics with the simplified electrical model, forming a complete visual modeling method for the wind turbine that takes into account the aerodynamic parameters and mechanical characteristics.

[0043] Furthermore, the calculation of the aerodynamic shape parameters of the wind turbine blade refers to describing the relationship between the chord length of the blade section, the installation angle and the position of the section in the span direction of the blade by using the Schmitz theory after the design tip speed ratio of the wind turbine blade and the aerodynamic parameters of the airfoil used are given;

[0044] The method of describing the relationship between the chord length of the blade section, the installation angle and the position of the section in the blade span direction by using the Schmitz theory includes the following steps:

[0045] In order to take into account the aerodynamic loss when the wind turbine obtains energy, the aerodynamic shape parameters of the wind turbine blades are derived using the velocity triangle of the upstream airflow, the blades and the downstream airflow of the wind turbine and the Schmitz theory, including the following contents:

[0046] Assuming that the change in tangential wind speed upstream of the impeller is 0 and the change in tangential wind speed downstream is Δu, calculate the circumferential wind speed at the blade;

[0047] According to the blade element-momentum theory, the lift force acting on the blade element is dL = ΔWdm, and the power P of the circumferential force is expressed as follows:

[0048] dP=2ρπr 2 v2ΩΔW sinφdr (1)

[0049] Wherein, ΔW is the change in the relative velocity of the airflow in the wind wheel plane, dm is the flow rate flowing through the ring element section, r is the distance to the impeller rotation center, Ω is the fan speed, φ is the wind angle, the same below;

[0050] According to the geometric relationship, the blade element power expression is as follows:

[0051] dP=rΩρ2πrdrW1 cos(φ1-φ)·sinφ2W1 sin(φ1-φ)sinφ (2)

[0052] Among them, W1 is the relative wind speed upstream of the impeller, and φ1 is the angle between it and the impeller plane;

[0053] make The lift force acting on the blade element is obtained as follows:

[0054]

[0055] Assuming the blade chord length is l(r) and the number of blades is n, the lift force on the blade element according to airfoil theory is expressed as follows:

[0056]

[0057] Where α is the design angle of attack of the blade, C l is the lift coefficient;

[0058] According to Schmitz theory, the power calculated by the momentum theorem on the blade element is equal to the power generated by the aerodynamic lift principle. Therefore, by combining the above two equations about dL, the chord length of the blade element is obtained as:

[0059]

[0060] After derivation, the basic parameters of the wind turbine blades are calculated, and the aerodynamic shape of the wind turbine blades can be constructed in sections;

[0061] The establishment of the physical model of the mechanical part of the wind turbine generator set refers to establishing the mechanical model of the wind turbine blades, nacelle, hub and tower in the form of Solid modules based on the SimMechanics toolbox of Simulink, and then using the coordinate transformation module to organically connect the various rigid body parts to complete the physical modeling of the mechanical part of the wind turbine generator set;

[0062] The additional yaw control actuator refers to establishing a yaw system model, including a yaw control mechanism and a yaw actuator;

[0063] The yaw system model is established by including the yaw motor torque output T y , Yaw load moment T yl and the moment of inertia of the wind turbine around the yaw axis J y The dynamic equation is used to simulate the yaw control actuator; the impeller axis direction and wind direction signals are input into the yaw control, and the PI regulator is used to adjust the deviation angle between the two to generate a reference value for the yaw rate. Will The difference is calculated by the PI regulator to obtain the reference output torque T of the yaw motor. y * , using the reference torque as a command signal to control the yaw motor; wherein the yaw motor and its inverter are T y * The lag link is simplified as follows: yl Mainly including the nacelle yaw moment and friction moment output by establishing the physical model of the mechanical part of the wind turbine;

[0064] The additional variable pitch control actuator refers to the establishment of a variable pitch system model, which inputs and executes the pitch angle command β for the variable pitch control module. * , use PI regulator to adjust β * The difference between the measured pitch value and the pitch rate command is output Then The difference between the measured value of the pitch speed and the torque command T of the pitch motor is output through PI regulation. p * The pitch motor is controlled by the pitch inverter, and the dynamics of the pitch control actuator can also be simulated by the relevant dynamic equations.

[0065] A computer device comprises a storage medium, a processor and a computer program stored on the storage medium and executable on the processor, wherein when the processor executes the computer program, the steps of any one of the methods for visual modeling of a wind turbine generator system taking into account aerodynamic parameters and mechanical characteristics are implemented.

[0066] A storage medium stores a computer program, wherein the computer program is executed by a processor to perform any step of a visual modeling method for a wind turbine generator set taking into account aerodynamic parameters and mechanical characteristics.

[0067] Compared with the prior art, the beneficial effects are:

[0068] By introducing the Schmitz theory in the blade modeling process, the vortex loss caused by the rotating wake of the wind turbine during the airflow process is fully considered, solving the problem that the traditional wind turbine modeling technology ignores the aerodynamic loss and causes the inaccurate evaluation of the unit inertia.

[0069] The SimMechanics toolbox is used to perform 3D visual modeling of the mechanical part of the wind turbine from a physical perspective. While focusing on the mechanical characteristics, it enhances the visibility and intuitiveness of the modeling technology, which is conducive to promoting the application of related technologies in actual engineering scenarios.

[0070] Based on the mechanical part model, the yaw mechanism and the pitch mechanism are established to form a mechanical overall model that fully considers the aerodynamic characteristics, and it is electromechanically coupled with the simplified electrical model, which improves the operating speed while reducing the control difficulty of the model, forming a complete wind turbine modeling method that takes into account aerodynamic parameters and mechanical characteristics, and can provide technical support for application scenarios such as the detailed evaluation of the wind turbine's own inertia. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0072] Figure 1A triangle principle diagram of the wind turbine upstream airflow, blades and downstream airflow velocity involved in a wind turbine visual modeling method taking into account aerodynamic parameters and mechanical characteristics of the present invention;

[0073] Figure 2 A method flow chart of a wind turbine visualization modeling method taking into account aerodynamic parameters and mechanical characteristics of the present invention;

[0074] Figure 3 A flow chart of a method for physical modeling of the mechanical part of a wind turbine generator set according to a visual modeling method of a wind turbine generator set taking into account aerodynamic parameters and mechanical characteristics of the present invention;

[0075] Figure 4 A schematic diagram of the yaw control and actuator structure of a wind turbine visual modeling method taking into account aerodynamic parameters and mechanical characteristics of the present invention;

[0076] Figure 5 A schematic diagram of the pitch control and actuator structure of a wind turbine visual modeling method taking into account aerodynamic parameters and mechanical characteristics of the present invention;

[0077] Figure 6 The present invention is a schematic diagram of the overall model structure and coupling relationship of a wind turbine set in a visual modeling method of a wind turbine set taking into account aerodynamic parameters and mechanical characteristics. DETAILED DESCRIPTION

[0078] The following is combined with Figure 1 To Attachment Figure 6 The present invention is further described in detail with reference to the specific embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0079] Example 1

[0080] like Figure 2 As shown, a method for a wind turbine generator system taking into account aerodynamic parameters and mechanical characteristics comprises the following steps:

[0081] The aerodynamic parameters of the blades are calculated according to the Schmitz theory to form the shape of the wind turbine blades taking into account the aerodynamic losses;

[0082] Use the SimMechanics toolbox to build and combine 3D visualization models of blades, nacelles, and towers that take into account mechanical characteristics;

[0083] Adding a yaw control actuator and a variable angle control actuator to the above mechanical part model, after coupling, establish a wind turbine mechanical overall model that fully considers aerodynamic characteristics;

[0084] The above-mentioned mechanical overall model considering aerodynamic characteristics is electromechanically coupled with the simplified electrical model to form a complete wind turbine visualization modeling method taking into account aerodynamic parameters and mechanical characteristics.

[0085] Example 2

[0086] like Figure 3 As shown in the figure, the physical modeling of the mechanical part of the wind turbine is as follows:

[0087] Determine the structure and parameters of mechanical modeling objects;

[0088] Import the shape parameters of the modeled object into the Matlab program in the form of coordinate points;

[0089] According to the shape parameters, correctly set the geometry, inertia, pattern, frame and other options of the Solid module;

[0090] Use the RigidTransform module and related rotational and translational modules to organically connect the coordinate systems of the constructed Solid modules;

[0091] Complete the physical model of the mechanical part of the wind turbine.

[0092] Example 3

[0093] like Figure 4 As shown, the additional yaw control and actuator includes the yaw motor torque output T y , Yaw load moment T yl and the moment of inertia of the wind turbine around the yaw axis J y The dynamic equation is used to simulate the yaw control actuator; the impeller axis direction and wind direction signals are input into the yaw control, and the PI regulator is used to adjust the deviation angle between the two to generate a reference value for the yaw rate. Will The difference is calculated by the PI regulator to obtain the reference output torque T of the yaw motor. y * , using the reference torque as a command signal to control the yaw motor; wherein the yaw motor and its inverter are T y * The lag link is simplified as follows: yl It mainly includes the nacelle yaw moment and friction moment output by establishing the physical model of the mechanical part of the wind turbine set.

[0094] Example 4

[0095] like Figure 5 As shown, the additional variable pitch control actuator refers to establishing a variable pitch system model to input and execute the pitch angle command β for the variable pitch control module * , use PI regulator to adjust β *The difference between the measured pitch value and the pitch rate command is output Then The difference between the measured value of the pitch speed and the torque command T of the pitch motor is output through PI regulation. p * The pitch motor is controlled by the pitch inverter, and the dynamics of the system composed of the pitch control and the actuator can also be simulated by the relevant dynamic equations.

[0096] Example 5

[0097] like Figure 6 As shown in the figure, firstly, the actual project is considered to determine the appropriate wind speed model; then the wind speed model is used to associate the blade load and the main controller with the wind direction; then the blade, nacelle and tower models are established according to the aerodynamic coupling and control coupling; finally, a practical overall model of the wind turbine engineering considering the coupling relationship is formed.

[0098] Example 6

[0099] According to Betz theory, the maximum power that can be extracted from the wind is 59.3% of the wind power. However, the numerical background of 59.3% is under ideal conditions without loss. The maximum wind energy utilization rate of modern horizontal axis wind turbines is generally about 50%, among which the aerodynamic loss of blades is one of the important reasons why the wind energy utilization rate cannot reach 59.3%. Therefore, in the design of wind turbine blades, it is necessary to select appropriate blade parameters to reduce the impact of aerodynamic losses. With the help of Schmitz theory, the working principle of the wind turbine can be easily described. After the design tip speed ratio of the wind turbine blade and the aerodynamic parameters of the airfoil used are given, the Schmitz theory can be used to describe the relationship between the chord length of the blade section, the installation angle and the position of the section in the span direction of the blade.

[0100] Example 7

[0101] The wind power generation system is a complex energy conversion system. The rotating blades use the kinetic energy of the air flow to convert it into mechanical torque on the mechanical shaft. Generally speaking, the larger the rated power of the wind turbine, the lower the speed of the wind turbine. Therefore, gearboxes are often used to convert the output power of the high-torque and low-speed wind turbine into the input power of the low-torque and high-speed generator. This process must take into account the influence of the mechanical characteristics of the wind turbine. SimMechanics is a modeling toolbox of Simulink. It can model and simulate rigid body systems according to the principles of physics. It contains a series of system elements with coordinate system transformation, static constraints, drives, hinges, etc. to build and solve models of actual physical systems, and can be connected with the controller designed by Simulink for comprehensive simulation. SimMechanics has one and two generations. Since the second-generation model is relatively intuitive and can directly establish the geometric characteristics of the mechanical structure, the second-generation toolbox is used for model construction. Among them, MechanismConfiguration is a mechanism configuration module, which is used for the mechanical and simulation parameters of the entire machine; Configuration and WorldFrame are mechanism solving and world coordinate systems respectively; Solid is a rigid body module, which is the basic module of mechanical modeling and its visualization process; Rigid Transform is a module for connecting the coordinate systems of two structures; Revolute Joint is a revolute joint module; SPS is to transform the simulation input of the unit into physical output, and PSS is the opposite. The above modules are widely used in the modeling process.

[0102] Example 8

[0103] Under the premise that the relevant parameter requirements of wind turbine blades have been given in actual engineering, the realization of the blade three-dimensional model follows the modeling process of point → surface → body. First, the airfoil data of the blade section is obtained according to the shape parameters calculated in step 1, and the data is imported into the Matlab program in the form of coordinate points; then, the rigid body shape is designed using the Solid module, the shape is set as a rotating body in the Geometry option, and the Extent of revolution option is set to custom, so that technical application personnel can adjust the model parameters as needed; finally, the cross-section coordinate data saved in Matlab is imported in the Cross-section option to form a complete three-dimensional graphic in the Solid module, and the coordinate systems of the built rigid body modules are connected using the Rigid Transform module, thus completing the mechanical modeling of the wind turbine blade. According to the same idea, the mechanical models of the nacelle, hub, and tower can be established in the form of Solid modules, and the coordinate transformation module can be used to organically connect the rigid body parts to complete the physical modeling of the mechanical part of the wind turbine.

[0104] Example 9

[0105] The modeling ideas of mechanical parts such as blades, nacelles, and towers are similar, with only differences in rigid body parameter settings and relative coordinate transformations. Therefore, the modeling process can be used to complete the modeling by referring to the modeling process of the wind turbine blade mechanical model.

[0106] Example 10

[0107] In order to reduce the complexity of the model and improve the simulation speed, the electrical model uses a simplified mathematical model.

[0108] Embodiment 11

[0109] The yaw system, as a wind-facing device, on the one hand, detects the wind direction and controls the impeller axis, so that the wind rotor is always in a windward state, thereby improving the power generation efficiency of the wind turbine; on the other hand, the yaw system can provide protection for the safe operation of the wind turbine.

[0110] Example 12

[0111] The variable pitch system uses a non-rigid connection between the blades and the hub of the variable pitch wind turbine, allowing the blades to be pitch-adjusted around the blade longitudinal beam, so that the blades have different power angles relative to the wind direction. When the wind speed continues to change, the blade power angle is always maintained at the optimal angle, so that the wind turbine can always maintain the best conversion efficiency of its wind rotor at different wind speeds and maximize the output power. When the wind speed is greater than the cut-out wind speed, the wind turbine stops working and the blades are feathered to protect the wind turbine from damage.

[0112] Embodiment 13

[0113] The present invention further provides an embodiment, which is a visual modeling device for a wind turbine generator set taking into account aerodynamic parameters and mechanical characteristics, comprising:

[0114] A calculation module is used to calculate the aerodynamic shape parameters of the wind turbine blades;

[0115] Establishing a module for establishing a physical model of the mechanical part of the wind turbine using the calculated aerodynamic shape parameters;

[0116] The additional module is used to add a yaw control actuator and a pitch control actuator to the established physical model of the mechanical part of the wind turbine, so as to form a complete mechanical model of the wind turbine that fully considers the aerodynamic characteristics;

[0117] The coupling module is used to electromechanically couple the complete mechanical model of the wind turbine that fully considers the aerodynamic characteristics with the simplified electrical model, forming a complete visual modeling method for the wind turbine that takes into account the aerodynamic parameters and mechanical characteristics.

[0118] Furthermore, the calculation of the aerodynamic shape parameters of the wind turbine blade refers to describing the relationship between the chord length of the blade section, the installation angle and the position of the section in the span direction of the blade by using the Schmitz theory after the design tip speed ratio of the wind turbine blade and the aerodynamic parameters of the airfoil used are given;

[0119] The method of describing the relationship between the chord length of the blade section, the installation angle and the position of the section in the blade span direction by using the Schmitz theory includes the following steps:

[0120] In order to take into account the aerodynamic loss when the wind turbine obtains energy, the aerodynamic shape parameters of the wind turbine blades are derived using the velocity triangle of the upstream airflow, the blades and the downstream airflow of the wind turbine and the Schmitz theory, including the following contents:

[0121] Assuming that the change in tangential wind speed upstream of the impeller is 0 and the change in tangential wind speed downstream is Δu, calculate the circumferential wind speed at the blade;

[0122] According to the blade element-momentum theory, the lift force acting on the blade element is dL = ΔWdm, and the power P of the circumferential force is expressed as follows:

[0123] dP=2ρπr 2 v2ΩΔW sinφdr (1)

[0124] Wherein, ΔW is the change in the relative velocity of the airflow in the wind wheel plane, dm is the flow rate flowing through the ring element section, r is the distance to the impeller rotation center, Ω is the fan speed, φ is the wind angle, the same below;

[0125] According to the geometric relationship, the blade element power expression is as follows:

[0126] dP=rΩρ2πrdrW1 cos(φ1-φ)·sinφ2W1 sin(φ1-φ)sinφ (2)

[0127] Among them, W1 is the relative wind speed upstream of the impeller, and φ1 is the angle between it and the impeller plane;

[0128] make The lift force acting on the blade element is obtained as follows:

[0129]

[0130] Assuming the blade chord length is l(r) and the number of blades is n, the lift force on the blade element according to airfoil theory is expressed as follows:

[0131]

[0132] Where α is the design angle of attack of the blade, C l is the lift coefficient;

[0133] According to Schmitz theory, the power calculated by the momentum theorem on the blade element is equal to the power generated by the aerodynamic lift principle. Therefore, by combining the above two equations about dL, the chord length of the blade element is obtained as:

[0134]

[0135] After derivation, the basic parameters of the wind turbine blades are calculated, and the aerodynamic shape of the wind turbine blades can be constructed in sections;

[0136] The establishment of the physical model of the mechanical part of the wind turbine generator set refers to establishing the mechanical model of the wind turbine blades, nacelle, hub and tower in the form of Solid modules based on the SimMechanics toolbox of Simulink, and then using the coordinate transformation module to organically connect the various rigid body parts to complete the physical modeling of the mechanical part of the wind turbine generator set;

[0137] The additional yaw control actuator refers to establishing a yaw system model, including a yaw control mechanism and a yaw actuator;

[0138] The yaw system model is established by including the yaw motor torque output T y , Yaw load moment T yl and the moment of inertia of the wind turbine around the yaw axis J y The dynamic equation is used to simulate the yaw control actuator; the impeller axis direction and wind direction signals are input into the yaw control, and the PI regulator is used to adjust the deviation angle between the two to generate a reference value for the yaw rate. Will The difference is calculated by the PI regulator to obtain the reference output torque T of the yaw motor. y * , using the reference torque as a command signal to control the yaw motor; wherein the yaw motor and its inverter are T y * The lag link is simplified as follows: yl Mainly including the nacelle yaw moment and friction moment output by establishing the physical model of the mechanical part of the wind turbine;

[0139] The additional variable pitch control actuator refers to the establishment of a variable pitch system model, which inputs and executes the pitch angle command β for the variable pitch control module. * , use PI regulator to adjust β * The difference between the measured pitch value and the pitch rate command is output Then The difference between the measured value of the pitch speed and the torque command T of the pitch motor is output through PI regulation. p *The pitch motor is controlled by the pitch inverter, and the dynamics of the pitch control actuator can also be simulated by the relevant dynamic equations.

[0140] Embodiment 14

[0141] Based on the same inventive concept, the present invention further provides a computer device, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor. When the processor executes the computer program, the steps of a method for visual modeling of a wind turbine taking into account aerodynamic parameters and mechanical characteristics as described in any one of Examples 1-12 are implemented.

[0142] Embodiment 15

[0143] Based on the same inventive concept, the present invention further provides a storage medium storing a computer program, wherein the computer program is executed by a processor to perform steps of a method for visual modeling of a wind turbine taking into account aerodynamic parameters and mechanical characteristics as described in any one of Examples 1-12.

[0144] The above embodiments verify the feasibility of the wind turbine visualization modeling method taking into account aerodynamic parameters and mechanical characteristics.

[0145] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0146] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0147] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0148] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0149] 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 visual modeling method for wind turbines taking into account aerodynamic parameters and mechanical characteristics, characterized in that: The steps include: Calculate the aerodynamic shape parameters of wind turbine blades; Using the calculated aerodynamic shape parameters, a physical model of the mechanical part of the wind turbine is established; For the established physical model of the mechanical part of the wind turbine, a yaw control actuator and a pitch control actuator are added to form a complete mechanical model of the wind turbine that fully considers the aerodynamic characteristics; The complete mechanical model of the wind turbine that fully considers the aerodynamic characteristics is electromechanically coupled with the simplified electrical model to form a complete visual modeling method for wind turbines that takes into account aerodynamic parameters and mechanical characteristics.

2. A visual modeling method for wind turbines taking into account aerodynamic parameters and mechanical characteristics according to claim 1, characterized in that: The calculation of the aerodynamic shape parameters of the wind turbine blades refers to describing the relationship between the chord length of the blade section, the installation angle and the position of the section in the span direction of the blade by using the Schmitz theory after the design tip speed ratio of the wind turbine blades and the aerodynamic parameters of the airfoil used are given; The method of describing the relationship between the chord length of the blade section, the installation angle and the position of the section in the blade span direction by using the Schmitz theory includes the following steps: In order to take into account the aerodynamic loss when the wind turbine obtains energy, the aerodynamic shape parameters of the wind turbine blades are derived using the velocity triangle of the upstream airflow, the blades and the downstream airflow of the wind turbine and the Schmitz theory, including the following contents: Assuming that the change of tangential wind speed upstream of the impeller is 0 and the change of tangential wind speed downstream is Δu, calculate the circumferential wind speed at the blade; According to the blade element-momentum theory, the lift force acting on the blade element is dL = ΔWdm, and the power P of the circumferential force is expressed as follows: dP=2ρπr 2 v2ΩΔWsinφdr (1) Wherein, ΔW is the change in the relative velocity of the airflow in the wind wheel plane, dm is the flow rate flowing through the ring element section, r is the distance to the impeller rotation center, Ω is the fan speed, φ is the wind angle, the same below; According to the geometric relationship, the blade element power expression is as follows: dP=rΩρ2πrdrW1cos(φ1-φ)·sinφ2W1sin(φ1-φ)sinφ (2) Among them, W1 is the relative wind speed upstream of the impeller, and φ1 is the angle between it and the impeller plane; make The lift force acting on the blade element is obtained as follows: Assume the blade chord length is l(r) and the number of blades is n. According to the airfoil theory, the lift force on the blade element is expressed as follows: Where α is the design angle of attack of the blade, C l is the lift coefficient; According to Schmitz theory, the power calculated by the momentum theorem on the blade element is equal to the power generated by the aerodynamic lift principle. Therefore, by combining the above two equations about dL, the chord length of the blade element is obtained as: After derivation, the basic parameters of the wind turbine blades are calculated, and the aerodynamic shape of the wind turbine blades can be constructed in sections.

3. A visual modeling method for wind turbines taking into account aerodynamic parameters and mechanical characteristics according to claim 1, characterized in that: The establishment of the physical model of the mechanical part of the wind turbine refers to establishing the mechanical model of the wind turbine blades, nacelle, hub and tower in the form of Solid modules based on the SimMechanics toolbox of Simulink, and then using the coordinate transformation module to organically connect the various rigid body parts to complete the physical modeling of the mechanical part of the wind turbine.

4. A visual modeling method for wind turbines taking into account aerodynamic parameters and mechanical characteristics according to claim 1, characterized in that: The additional yaw control actuator refers to establishing a yaw system model, including a yaw control mechanism and a yaw actuator.

5. A visual modeling method for wind turbines taking into account aerodynamic parameters and mechanical characteristics according to claim 4, characterized in that: The yaw system model is established by including the yaw motor torque output T y , Yaw load moment T yl and the moment of inertia of the wind turbine around the yaw axis J y The dynamic equation is used to simulate the yaw control actuator; the impeller axis direction and wind direction signals are input into the yaw control, and the PI regulator is used to adjust the deviation angle between the two to generate a reference value for the yaw rate. Will The difference is subtracted from the measured yaw rate, and the difference is passed through the PI regulator to obtain the reference output torque of the yaw motor The reference torque is used as a command signal to control the yaw motor; wherein the yaw motor and its inverter are controlled by T y * The lag link is simplified as follows: yl It mainly includes the nacelle yaw moment and friction moment output by establishing the physical model of the mechanical part of the wind turbine set.

6. A visual modeling method for wind turbines taking into account aerodynamic parameters and mechanical characteristics according to claim 1, characterized in that: The additional variable pitch control actuator refers to the establishment of a variable pitch system model, which inputs and executes the pitch angle command β for the variable pitch control module. * , use PI regulator to adjust β * The difference between the measured pitch value and the pitch rate command is output Then The difference between the measured value of the pitch speed and the torque command T of the pitch motor is output through PI regulation. p * The pitch motor is controlled by the pitch inverter, and the dynamics of the pitch control actuator can also be simulated by the relevant dynamic equations.

7. A visual modeling device for wind turbines taking into account aerodynamic parameters and mechanical characteristics, characterized in that: include: A calculation module is used to calculate the aerodynamic shape parameters of the wind turbine blades; Establishing a module for establishing a physical model of the mechanical part of the wind turbine using the calculated aerodynamic shape parameters; The additional module is used to add a yaw control actuator and a pitch control actuator to the established physical model of the mechanical part of the wind turbine, so as to form a complete mechanical model of the wind turbine that fully considers the aerodynamic characteristics; The coupling module is used to electromechanically couple the complete mechanical model of the wind turbine that fully considers the aerodynamic characteristics with the simplified electrical model, forming a complete visual modeling method for the wind turbine that takes into account the aerodynamic parameters and mechanical characteristics.

8. A visual modeling device for wind turbines taking into account aerodynamic parameters and mechanical characteristics according to claim 7, characterized in that: The calculation of the aerodynamic shape parameters of the wind turbine blades refers to describing the relationship between the chord length of the blade section, the installation angle and the position of the section in the span direction of the blade by using the Schmitz theory after the design tip speed ratio of the wind turbine blades and the aerodynamic parameters of the airfoil used are given; The method of describing the relationship between the chord length of the blade section, the installation angle and the position of the section in the blade span direction by using the Schmitz theory includes the following steps: In order to take into account the aerodynamic loss when the wind turbine obtains energy, the aerodynamic shape parameters of the wind turbine blades are derived using the velocity triangle of the upstream airflow, the blades and the downstream airflow of the wind turbine and the Schmitz theory, including the following contents: Assuming that the change of tangential wind speed upstream of the impeller is 0 and the change of tangential wind speed downstream is Δu, calculate the circumferential wind speed at the blade; According to the blade element-momentum theory, the lift force acting on the blade element is dL = ΔWdm, and the power P of the circumferential force is expressed as follows: dP=2ρπr 2 v2ΩΔWsinφdr (1) Wherein, ΔW is the change in the relative velocity of the airflow in the wind wheel plane, dm is the flow rate flowing through the ring element section, r is the distance to the impeller rotation center, Ω is the fan speed, φ is the wind angle, the same below; According to the geometric relationship, the blade element power expression is as follows: dP=rΩρ2πrdrW1cos(φ1-φ)·sinφ2W1sin(φ1-φ)sinφ (2) Among them, W1 is the relative wind speed upstream of the impeller, and φ1 is the angle between it and the impeller plane; make The lift force acting on the blade element is obtained as follows: Assume the blade chord length is l(r) and the number of blades is n. According to the airfoil theory, the lift force on the blade element is expressed as follows: Where α is the design angle of attack of the blade, C l is the lift coefficient; According to Schmitz theory, the power calculated by the momentum theorem on the blade element is equal to the power generated by the aerodynamic lift principle. Therefore, by combining the above two equations about dL, the chord length of the blade element is obtained as: After derivation, the basic parameters of the wind turbine blades are calculated, and the aerodynamic shape of the wind turbine blades can be constructed in sections; The establishment of the physical model of the mechanical part of the wind turbine generator set refers to establishing the mechanical model of the wind turbine blades, nacelle, hub and tower in the form of Solid modules based on the SimMechanics toolbox of Simulink, and then using the coordinate transformation module to organically connect the various rigid body parts to complete the physical modeling of the mechanical part of the wind turbine generator set; The additional yaw control actuator refers to establishing a yaw system model, including a yaw control mechanism and a yaw actuator; The yaw system model is established by including the yaw motor torque output T y , Yaw load moment T yl and the moment of inertia of the wind turbine around the yaw axis J y The dynamic equation is used to simulate the yaw control actuator; the impeller axis direction and wind direction signals are input into the yaw control, and the PI regulator is used to adjust the deviation angle between the two to generate a reference value for the yaw rate. Will The difference is calculated by the PI regulator to obtain the reference output torque T of the yaw motor. y * , using the reference torque as a command signal to control the yaw motor; wherein the yaw motor and its inverter are T y * The lag link is simplified as follows: yl Mainly including the nacelle yaw moment and friction moment output by establishing the physical model of the mechanical part of the wind turbine; The additional variable pitch control actuator refers to the establishment of a variable pitch system model, which inputs and executes the pitch angle command β for the variable pitch control module. * , use PI regulator to adjust β * The difference between the measured pitch value and the pitch rate command is output Then The difference between the measured value of the pitch speed and the torque command T of the pitch motor is output through PI regulation. p * The pitch motor is controlled by the pitch inverter, and the dynamics of the pitch control actuator can also be simulated by the relevant dynamic equations.

9. A computer device, characterized in that: The method comprises a storage medium, a processor and a computer program stored on the storage medium and executable on the processor, wherein when the processor executes the computer program, the steps of a method for visual modeling of a wind turbine taking into account aerodynamic parameters and mechanical characteristics as described in any one of claims 1 to 6 are implemented.

10. A storage medium, characterized in that: The storage medium stores a computer program, and the computer program is executed by a processor to perform the steps of a method for visual modeling of a wind turbine taking into account aerodynamic parameters and mechanical characteristics as described in any one of claims 1 to 6.

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