Wind turbine generator set safety chain hardware-in-the-loop test system and method

Abstract

The invention provides a wind turbine generator set safety chain hardware-in-the-loop test system and method, and relates to the technical field of simulation test. The system comprises an upper computer, a simulation test module, a main control module and a safety chain, the safety chain is actual safety chain hardware equipment of a wind turbine generator, and a shutdown signal is sent to the simulation test module and the main control module under the condition that it is determined that a safety chain fault is triggered; the main control module controls the simulation test module to simulate the running state of the wind turbine generator; the simulation test module is used for generating a safety chain fault signal according to a safety chain test requirement when the wind turbine generator is in a grid-connected power generation mode, and carrying out hardware-in-loop safety test on a safety chain; the main control module is used for monitoring whether the safety chain triggers a safety chain fault based on the safety chain fault signal or not, and sending a safety chain fault signal reset instruction to the simulation test module after receiving the shutdown signal; and after receiving the shutdown signal, the simulation test module executes a shutdown process of the wind turbine generator and executes a safety chain fault signal resetting process.

Description

Technical Field

[0001] This application relates to the technical field of simulation testing, and particularly to a hardware-in-the-loop test system and method for the safety chain of a wind turbine generator set. Background Art

[0002] As a large-scale electromechanical device with high complexity, a wind turbine generator set usually operates in an extremely harsh operating environment and faces numerous safety risks. Ensuring the safe operation of the wind turbine generator set is of utmost importance, and the safety chain is the core protection system among them. The safety chain consists of multiple hardware nodes, including vibration sensors, emergency stop buttons, pitch systems, overspeed monitoring modules, etc. These nodes are interconnected and cooperate closely to form a tight safety protection network. When any one of these nodes detects an over-limit fault (such as abnormal conditions like overspeed, excessive vibration, emergency stop, etc.), the safety chain will quickly trigger an emergency stop and cut off the fault source in a timely manner, thereby ensuring the safety of the wind turbine equipment and the lives of the staff.

[0003] The reliability of the safety chain is the basis for ensuring the safe operation of the wind turbine. The failure of any one node may lead to the failure of the entire system's functions. Therefore, the testing and verification of the safety chain are particularly important. However, traditional testing methods usually rely on the actual operating environment of the wind turbine generator set, which not only results in longer testing cycles and higher costs, but also has the difficulty of being unable to repeatedly trigger high-risk faults (such as overspeed). At the same time, traditional testing methods have problems of low efficiency and insufficient coverage, and cannot dynamically simulate complex fault combinations, and the test coverage rate is also low. This makes it impossible for us to comprehensively evaluate and verify the performance of the safety chain under various extreme conditions. Summary of the Invention

[0004] This application aims to at least partly solve one of the technical problems in the related technologies.

[0005] To this end, an object of the present application is to provide a hardware-in-the-loop test system for a safety chain of a wind turbine generator set, including a host computer, a simulation test module, a main control module, and a safety chain, where: the safety chain is the actual safety chain hardware device of the wind turbine generator set, and sends a shutdown signal to the simulation test module and the main control module when it is determined that a safety chain fault is triggered; the main control module controls the simulation test module to simulate the operating state of the wind turbine generator set; the simulation test module is used to generate a safety chain fault signal according to the safety chain test requirements to perform a hardware-in-the-loop safety test on the safety chain when the wind turbine generator set is in the grid-connected power generation mode; the main control module is further used to monitor whether the safety chain triggers a safety chain fault based on the safety chain fault signal, and send a safety chain fault signal reset instruction to the simulation test module after receiving the shutdown signal sent by the safety chain; the simulation test module executes the shutdown process of the wind turbine generator set after receiving the shutdown signal sent by the safety chain, and executes the reset process of the safety chain fault signal based on the safety chain fault signal reset instruction sent by the main control module; the host computer is used to display each analog signal and status signal corresponding to the wind turbine generator set.

[0006] A second object of the present application is to provide a hardware-in-the-loop test method for a safety chain of a wind turbine generator set.

[0007] A third object of the present application is to provide an electronic device.

[0008] A fourth object of the present application is to provide a non-transitory computer-readable storage medium.

[0009] A fifth object of the present application is to provide a computer program product.

[0010] To achieve the above object, an embodiment of the first aspect of the present application provides a hardware-in-the-loop test system for a safety chain of a wind turbine generator set, including a host computer, a simulation test module, a main control module, and a safety chain, where: the safety chain is the actual safety chain hardware device of the wind turbine generator set, and sends a shutdown signal to the simulation test module and the main control module when it is determined that a safety chain fault is triggered; the main control module controls the simulation test module to simulate the operating state of the wind turbine generator set; the simulation test module is used to generate a safety chain fault signal according to the safety chain test requirements to perform a hardware-in-the-loop safety test on the safety chain when the wind turbine generator set is in the grid-connected power generation mode; the main control module is further used to monitor whether the safety chain triggers a safety chain fault based on the safety chain fault signal, and send a safety chain fault signal reset instruction to the simulation test module after receiving the shutdown signal sent by the safety chain; the simulation test module executes the shutdown process of the wind turbine generator set after receiving the shutdown signal sent by the safety chain, and executes the reset process of the safety chain fault signal based on the safety chain fault signal reset instruction sent by the main control module; the host computer is used to display each analog signal and status signal corresponding to the wind turbine generator set.

[0011] According to an embodiment of the present application, the simulation test module includes a wind speed and direction simulation unit, a pitch simulation unit, a rotational speed simulation unit, a grid connection simulation unit, a vibration simulation unit, and an emergency stop simulation unit, where: the wind speed and direction simulation unit is used to generate the incoming flow simulation wind speed and incoming flow simulation wind direction of the wind turbine; the pitch simulation unit is used to generate the real-time simulation pitch angle and real-time simulation pitch speed of the wind turbine; the rotational speed simulation unit is used to generate the generator simulation rotational speed and the wind wheel simulation rotational speed of the wind turbine; the grid connection simulation unit is used to generate the grid connection state simulation parameters of the wind turbine, and the grid connection state simulation parameters include grid-connected active power; the vibration simulation unit is used to generate the vibration-related parameters of the wind turbine, and the vibration-related parameters include vibration simulation signals and vibration acceleration overrun state feedback signals; the emergency stop simulation unit is used to generate the emergency stop feedback signal of the wind turbine.

[0012] According to an embodiment of the present application, the main control module controls the simulation test module to simulate the operating state of the wind turbine, including: when the main control module monitors that the duration of the incoming flow simulation wind speed being greater than the wind speed threshold is greater than the preset duration, or monitors that the upper computer sends a start instruction, sending a start instruction to the simulation test module; the simulation test module responds to the start instruction to simulate the start-up process of the wind turbine and shares the start simulation parameters with the main control module in real time; after the main control module monitors that the start simulation parameters meet the grid connection conditions, sending a grid connection instruction to the simulation test module and entering the grid-connected power generation mode.

[0013] According to an embodiment of the present application, in response to the safety chain test requirement for the overspeed protection function test of the wind turbine safety chain, generating a safety chain fault signal according to the safety chain test requirement, including: modifying the generator simulation rotational speed of the current wind turbine in the simulation test module to the first given generator rotational speed to generate a safety chain fault signal; where the first given generator rotational speed is greater than the overspeed protection threshold corresponding to the safety chain.

[0014] According to an embodiment of the present application, in response to the safety chain test requirement for the rotational speed difference protection function test of the wind turbine safety chain, generating a safety chain fault signal according to the safety chain test requirement, including: modifying the generator simulation rotational speed in the simulation test module to the second given generator rotational speed to generate a safety chain fault signal; where the difference between the second given generator rotational speed and the real-time reference value of the generator rotational speed is greater than the overspeed protection threshold corresponding to the safety chain, and the real-time reference value of the generator rotational speed is the product of the wind wheel simulation rotational speed and the transmission ratio of the unit drive system.

[0015] According to an embodiment of the present application, in response to the safety chain test requirement for the emergency stop function test of the wind turbine safety chain, generating a safety chain fault signal according to the safety chain test requirement, including: modifying the current safety chain emergency stop feedback signal in the simulation test module from the fault-free state to the fault state.

[0016] According to an embodiment of the present application, in response to the safety chain test requirement for the vibration over-limit protection function test of the wind turbine safety chain, a safety chain fault signal is generated according to the safety chain test requirement, including: modifying the current vibration simulation acceleration in the simulation test module to a given vibration acceleration; wherein, the given vibration acceleration causes the vibration acceleration over-limit state feedback signal corresponding to the safety chain to be changed from a fault-free state to a fault state.

[0017] To achieve the above object, an embodiment of the second aspect of the present application provides a hardware-in-the-loop test method for the wind turbine safety chain, including: performing a hardware-in-the-loop test on the wind turbine safety chain based on a hardware-in-the-loop test system for the wind turbine safety chain; analyzing the test results of the hardware-in-the-loop test of the safety chain and generating a hardware-in-the-loop test report for the safety chain.

[0018] To achieve the above object, an embodiment of the third aspect of the present application provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to implement the hardware-in-the-loop test method for the wind turbine safety chain as described in the embodiment of the second aspect of the present application.

[0019] To achieve the above object, an embodiment of the fourth aspect of the present application provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to implement the hardware-in-the-loop test method for the wind turbine safety chain as described in the embodiment of the second aspect of the present application.

[0020] To achieve the above object, an embodiment of the fifth aspect of the present application provides a computer program product, including a computer program, and the computer program implements the hardware-in-the-loop test method for the wind turbine safety chain as described in the embodiment of the second aspect of the present application when executed by a processor.

[0021] The present application at least achieves the following beneficial effects: The hardware-in-the-loop test system for the wind turbine safety chain proposed by the present application can, through hardware-in-the-loop testing, simulate the operating states of the wind turbine under various working conditions when actual hardware devices are connected, conduct comprehensive safety chain fault tests, help identify and discover potential faults and weak links in the safety chain in advance, and avoid safety accidents during actual operation; timely discover and repair potential problems, ensure that the safety chain can work properly under various complex working conditions, thereby greatly improving the overall reliability of the wind turbine and reducing the occurrence of system failures; through hardware-in-the-loop testing, potential problems in the wind turbine safety chain can be discovered at an early stage, and improvements and optimizations can be made in advance, thereby reducing equipment failures and maintenance costs. By ensuring the stable operation of the wind turbine, production losses caused by unexpected shutdowns and failures can be avoided, the overall power generation efficiency can be improved, and thus the economic benefits can be enhanced. Brief Description of the Drawings

[0022] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, where:

[0023] Figure 1 is a schematic diagram of a hardware-in-the-loop test system for a safety chain of a wind turbine shown in an embodiment of the present application.

[0024] Figure 2 is a schematic diagram of a hardware-in-the-loop test system for a safety chain of a wind turbine shown in an embodiment of the present application.

[0025] Figure 3 is a schematic diagram of a test for the overspeed protection function of the safety chain shown in an embodiment of the present application.

[0026] Figure 4 is a schematic diagram of a test for the over-speed difference protection function of the safety chain shown in an embodiment of the present application.

[0027] Figure 5 is a schematic diagram of a test for the emergency shutdown function of the safety chain shown in an embodiment of the present application.

[0028] Figure 6 is a schematic diagram of a test for the vibration over-limit protection function of the safety chain shown in an embodiment of the present application.

[0029] Figure 7 is a schematic diagram of a simulation test module shown in an embodiment of the present application.

[0030] Figure 8 is a schematic diagram of a hardware-in-the-loop test method for a safety chain of a wind turbine shown in an embodiment of the present application.

[0031] Figure 9 is a schematic diagram of an electronic device shown in an embodiment of the present application. Detailed Embodiments

[0032] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0033] Figure 1 is a schematic diagram of a hardware-in-the-loop test system for a safety chain of a wind turbine shown in the present application. As Figure 1 shown, the hardware-in-the-loop test system for the safety chain of the wind turbine includes a host computer, a simulation test module, a main control module, and a safety chain, where:

[0034] Among them, the safety chain is the actual safety chain hardware device of the wind turbine, such as devices like Programmable Logic Controller (PLC), relays, sensor interfaces, etc.

[0035] Among them, the main control module controls the simulation test module to simulate the operating state of the wind turbine, and the simulation test module shares each analog signal of the wind turbine with the main control module in real time.

[0036] Among them, the simulation test module is used to generate a safety chain fault signal according to the safety chain test requirements when the wind turbine is in the grid-connected power generation mode, and perform hardware-in-the-loop safety testing on the safety chain.

[0037] Among them, the main control module is also used to monitor whether the safety chain triggers a safety chain fault based on the safety chain fault signal. If the safety chain triggers a safety chain fault, the safety chain will disconnect, that is, it can be understood that the safety chain hardware entity can correctly respond to the safety chain fault signal.

[0038] Among them, when the safety chain determines that a safety chain fault is triggered, it sends a shutdown signal to the main control module and the simulation test module. The main control module is also used to send a safety chain fault signal reset instruction to the simulation test module after receiving the shutdown signal sent by the safety chain. After receiving the shutdown signal sent by the safety chain, the simulation test module executes the wind turbine shutdown process, and, based on the safety chain fault signal reset instruction sent by the main control module, executes the reset process of the safety chain fault signal. This shows that the safety chain can correctly respond to the fault, and this test ends. The shutdown process may include: the simulation test module simulates the blade pitch operation and the deceleration operation based on the blade pitch angle target value and the blade pitch angle target rate corresponding to the wind turbine shutdown carried by the shutdown signal, controls the speed reduction until the unit shuts down and the speed is 0.

[0039] Among them, if the main control module monitors that the safety chain does not trigger a safety chain fault, that is, the safety chain is not disconnected, it means that there is a vulnerability in the safety chain and it cannot respond to the fault signal in time, and the safety chain needs to be optimized and improved.

[0040] Among them, the upper computer is used to display each analog signal and status signal corresponding to the wind turbine simulated in the simulation test module. In addition, the upper computer can also be used to inject and modify fault signals into the simulation test module, and, the upper computer can also generate a test report according to the test results.

[0041] The hardware-in-the-loop test system for the safety chain of a wind turbine proposed in this application can, through hardware-in-the-loop testing, simulate the operating states of the wind turbine under various working conditions when actual hardware devices are connected, conduct comprehensive safety chain fault tests, help identify and discover potential faults and weak links in the safety chain in advance, and avoid safety accidents during actual operation; promptly detect and repair potential problems, ensure that the safety chain can work properly under various complex working conditions, thereby greatly improving the overall reliability of the wind turbine and reducing the occurrence of system faults; through hardware-in-the-loop testing, potential problems in the safety chain of the wind turbine can be discovered in the early stage, and improvements and optimizations can be made in advance, thereby reducing equipment failures and maintenance costs, avoiding production losses caused by unexpected shutdowns and faults by ensuring the stable operation of the wind turbine, improving the overall power generation efficiency, and further enhancing economic benefits.

[0042] Figure 2 is a schematic diagram of a hardware-in-the-loop test system for the safety chain of a wind turbine shown in this application. As Figure 2 shown, the hardware-in-the-loop test system for the safety chain of the wind turbine includes a host computer, a simulation test module, a main control module, a safety chain, and a human-machine interface. Among them, the host computer, the simulation test module, the main control module, and the safety chain have been introduced in detail above and will not be elaborated here. The human-machine interface can be used for human-machine interaction. For example, the staff can start the main control module through the human-machine interface, or the staff can manually control to reset the safety chain fault signal through the human-machine interface.

[0043] Furthermore, the simulation test module will be introduced in detail below. The simulation test module includes a wind speed and direction simulation unit, a pitch simulation unit, a rotational speed simulation unit, a grid connection simulation unit, a vibration simulation unit, and an emergency stop simulation unit. Among them:

[0044] 1. The wind speed and direction simulation unit is used to generate the incoming flow simulated wind speed and incoming flow simulated wind direction of the wind turbine.

[0045] Specifically, the wind speed and direction simulation unit generates the incoming flow simulated wind speed v with natural fluctuations according to the initial wind speed value V0 set inside it, where:

[0046] v = f(V0)

[0047] Specifically, the wind speed and direction simulation unit generates the incoming flow simulated wind direction θ with natural fluctuations according to the initial wind direction value θ0 set inside it, where:

[0048] θ = f(θ0)

[0049] 2. The pitch simulation unit is used to generate the real-time simulated pitch angle and real-time simulated pitch speed of the wind turbine.

[0050] Specifically, according to the initial pitch angle β0 at the current moment, the given pitch angle target value β issued by the main control module ref , and the given pitch angle target rate ω issued by the main control module ref , simulate and generate the actual real-time simulated pitch angle β of the unit; according to the given pitch angle target value β ref and the given pitch angle target rate ω ref , simulate and generate the real-time simulated pitch change speed ω of the unit.

[0051] β = f(ω ref , β0, β ref )

[0052] ω = f(ω ref , β ref )

[0053] 3. The rotational speed simulation unit is used to generate the simulated generator rotational speed and the simulated wind turbine rotational speed of the wind turbine generator set.

[0054] Specifically, after the unit starts, according to the simulated incoming wind speed v, the real-time simulated pitch angle β of the unit generated by simulation, the unit power P ref and the working mode, generate the generator rotational speed n gen , and control the rotational speed to rise or fall, where:

[0055] n gen = f(v, β, P ref )

[0056] Specifically, after the unit starts, according to the simulated generator rotational speed n gen and the set transmission system transmission ratio G, simulate and generate the simulated wind turbine rotational speed n rot , where:

[0057] n rot = f(G, n gen )

[0058] 4. The grid connection simulation unit is used to generate the grid connection state simulation parameters of the wind turbine generator set, and the grid connection state simulation parameters include the grid-connected active power.

[0059] Specifically, after the unit is simulated to enter the grid connection mode, according to the generator rotational speed n gen and the electromagnetic torque command Te, generate the grid-connected active power P of the unit.

[0060] P = f(n gen , Te)

[0061] 5. The vibration simulation unit is used to generate the vibration-related parameters of the wind turbine generator set, and the vibration-related parameters include the vibration simulation signal and the vibration acceleration overrun state feedback signal.

[0062] Specifically, vibration signals vx0 and vy0 with natural fluctuations are generated based on the initial set values Vx0 and Vy0 of the unit vibration. Among them:

[0063] vx0 = f(Vx0)

[0064] vy0 = f(Vy0)

[0065] Specifically, the overspeed threshold corresponding to the x - direction of the vibration sensor signal module is set as G_X_Prot, the overspeed threshold corresponding to the y - direction is set as G_Y_Prot, and the vibration acceleration over - limit status feedback signal corresponding to the vibration acceleration sensor is DI_GSensor. Among them:

[0066] DI_GSensor = f(vx0, vy0, G_X_Prot, G_Y_Prot)

[0067] 6. The emergency shutdown simulation unit is used to generate the emergency shutdown feedback signal of the wind turbine generator set.

[0068] Specifically, according to the status S of the emergency shutdown button of the unit Emergy the emergency shutdown feedback signal DI_Emergy is generated. Among them, the emergency shutdown feedback signal is a digital quantity signal, where:

[0069] DI_Emergy = f(S Emergy )

[0070] Among them, it has been introduced above that when the wind turbine generator set is in the grid - connected power generation mode, the safety chain is triggered for the hardware - in - the - loop safety test. Next, the process of the main control module controlling the simulation test module to simulate the wind turbine generator set entering the grid - connected power generation mode is introduced, including:

[0071] When the wind turbine generator set in the simulation test module is in the standby mode, the main control module is started. The simulation test module can simulate the wind speed and direction and share the simulation parameters in real - time with the main control module.

[0072] When the main control module monitors that the continuous duration of the simulated incoming wind speed being greater than the wind speed threshold is greater than the preset duration, or monitors that the upper computer sends a start command, a start command is sent to the simulation test module. Among them, the start command carries the pitch angle target value and the pitch angle target rate (which can be understood as the adjustment rate of the pitch angle) corresponding to the start of the wind turbine generator set.

[0073] The simulation test module responds to the start command to simulate the start - up process of the wind turbine generator set, generates the real - time simulated pitch angle, the real - time simulated pitch - changing speed, the simulated generator speed, and the simulated wind wheel speed based on the pitch angle target value and the pitch angle target rate corresponding to the start of the wind turbine generator set, controls the generator speed to rise according to the incoming wind speed, and shares the start - up simulation parameters with the main control module in real - time.

[0074] After the main control module monitors that the startup simulation parameters meet the grid connection conditions, it sends a grid connection command to the simulation test module and enters the grid-connected power generation mode.

[0075] Furthermore, after the wind turbine simulated in the above simulation test module enters the grid-connected power generation mode, safety chain fault tests can be carried out respectively based on the following 4 test schemes. The following four schemes are only several example applications of this application. The safety chain hardware-in-the-loop test method proposed in this application includes but is not limited to the following four schemes.

[0076] The first safety chain safety function test scheme:

[0077] If the safety chain test requirement is the overspeed protection function test of the wind turbine safety chain, the simulation test module generates a safety chain fault signal according to the safety chain test requirement, including: when the wind turbine is in the normal grid-connected power generation mode, modifying the current simulated generator speed in the simulation test module to the first given generator speed to generate a safety chain fault signal.

[0078] Among them, the first given generator speed is greater than the overspeed protection threshold corresponding to the safety chain. Among them, it is assumed that the first given generator speed is denoted as n gen-1 , and the overspeed protection threshold is denoted as N_gen_Prot, that is, n gen-1 > N_gen_Prot, thus triggering the safety chain overspeed fault.

[0079] Figure 3 is a schematic diagram of the overspeed protection function test of a safety chain shown in this application. As Figure 3 shown, the signals are, from top to bottom, the safety chain heartbeat signal and the safety chain feedback signal.

[0080] After generating the safety chain fault signal according to the safety chain test requirement above, check whether the safety chain triggers the emergency shutdown of the safety chain overspeed fault on the human-machine interface, the main control module or the upper computer. If the safety chain sends a shutdown signal to the main control module and the simulation test module, after the simulation test module receives the shutdown signal sent by the safety chain, it executes the wind turbine shutdown process. This indicates that the safety chain can correctly respond to the fault, and this test ends. Manually or automatically trigger the reset of the safety chain fault signal on the main control module or the human-machine interface, and the simulation test module executes the reset process of the safety chain fault signal of the wind turbine. The shutdown process may include: the simulation test module simulates the blade pitch operation and the deceleration operation based on the blade pitch angle target value and the blade pitch angle target rate corresponding to the wind turbine shutdown carried by the shutdown signal, controls the speed to decrease until the unit stops and the speed is 0.

[0081] The second safety chain safety function test scheme:

[0082] If the safety chain test requirement is to test the overspeed protection function of the safety chain of the wind turbine generator set, generating a safety chain fault signal according to the safety chain test requirement includes: when the wind turbine generator set is in the normal grid-connected power generation mode, modifying the current simulated generator speed in the simulation test module to a second given generator speed to generate a safety chain fault signal.

[0083] Among them, the difference between the second given generator speed and the real-time reference value of the generator speed is greater than the overspeed protection threshold corresponding to the safety chain. The real-time reference value of the generator speed is the product of the simulated wind turbine speed and the transmission ratio of the unit drive system. Among them, assuming that the second given generator speed is denoted as n gen-2 , the simulated wind turbine speed is denoted as n rot , the transmission ratio of the unit drive system is denoted as G, and the overspeed protection threshold corresponding to the safety chain is denoted as N_delta_Prot. That is, when n gen-2 - G * n rot > N_delta_Prot, a safety chain overspeed fault is triggered.

[0084] Figure 4 is a schematic diagram of the overspeed protection function test of the safety chain shown in this application. As Figure 4 shown, the signals are, from top to bottom, the safety chain heartbeat signal and the safety chain feedback signal.

[0085] After generating the safety chain fault signal according to the safety chain test requirement above, check whether the safety chain triggers an emergency shutdown due to overspeed fault on the human-machine interface, the main control module or the upper computer. If the safety chain sends a shutdown signal to the main control module and the simulation test module, after receiving the shutdown signal sent by the safety chain, the simulation test module executes the shutdown process of the wind turbine generator set. This indicates that the safety chain can correctly respond to the fault, and this test ends. Manually or automatically trigger the reset of the safety chain fault signal on the main control module or the human-machine interface, and the simulation test module executes the reset process of the safety chain fault signal of the wind turbine generator set. The shutdown process may include: the simulation test module simulates the blade pitch operation and the deceleration operation based on the blade pitch angle target value and the blade pitch angle target rate corresponding to the shutdown of the wind turbine generator set carried by the shutdown signal, controls the speed to decrease until the unit stops, and the speed is 0.

[0086] The third safety chain safety function test scheme:

[0087] If the safety chain test requirement is to test the emergency shutdown function of the safety chain of the wind turbine generator set, generating a safety chain fault signal according to the safety chain test requirement includes: when the wind turbine generator set is in the normal grid-connected power generation mode, modifying the current safety chain emergency shutdown feedback signal in the simulation test module from the fault-free state to the fault state (for example, modifying the current safety chain emergency shutdown feedback signal in the simulation test module from FALSE to TRUE).

[0088] Figure 5 This is a schematic diagram of the safety chain emergency shutdown function test shown in this application. As Figure 5 shown, the signals from top to bottom are the safety chain heartbeat signal and the safety chain feedback signal in sequence.

[0089] After the safety chain emergency shutdown feedback signal is changed from the fault-free state to the fault state as described above, check whether the safety chain triggers the safety chain overspeed fault emergency shutdown on the human-machine interface, the main control module or the upper computer. If the safety chain sends a shutdown signal to the main control module and the simulation test module, after the simulation test module receives the shutdown signal sent by the safety chain, it executes the wind turbine shutdown process. This indicates that the safety chain can correctly respond to the fault, and this test ends. Manually or automatically trigger the reset of the safety chain fault signal on the main control module or the human-machine interface, and the simulation test module executes the safety chain fault signal reset process of the wind turbine. The shutdown process may include: the simulation test module simulates the blade pitch operation and the deceleration operation based on the blade pitch angle target value and the blade pitch angle target rate corresponding to the wind turbine shutdown carried by the shutdown signal, controls the speed reduction until the unit stops, and the speed is 0.

[0090] The fourth safety chain safety function test plan:

[0091] If the safety chain test requirement is the vibration overlimit protection function test of the wind turbine safety chain, generate a safety chain fault signal according to the safety chain test requirement, including: when the wind turbine is in the normal grid-connected power generation mode, modify the current vibration simulation acceleration in the simulation test module to the given vibration acceleration. Among them, the given vibration acceleration causes the vibration acceleration overlimit state feedback signal corresponding to the safety chain to change from the fault-free state to the fault state (for example, the vibration acceleration overlimit state feedback signal corresponding to the safety chain changes from FALSE to TRUE).

[0092] Figure 6 This is a schematic diagram of the vibration overlimit protection function test of the safety chain shown in this application. As Figure 6 shown, the signals from top to bottom are the safety chain heartbeat signal and the safety chain feedback signal in sequence.

[0093] After the vibration acceleration corresponding to the safety chain exceeds the limit and the status feedback signal changes from the fault-free state to the fault state under the given vibration acceleration, check whether the safety chain triggers an emergency shutdown due to overspeed failure of the safety chain on the human-machine interface, the main control module, or the upper computer. If the safety chain sends a shutdown signal to the main control module and the simulation test module, after receiving the shutdown signal sent by the safety chain, the simulation test module executes the shutdown process of the wind turbine generator set. This indicates that the safety chain can correctly respond to faults, and this test ends. Manually or automatically trigger the reset of the safety chain fault signal on the main control module or the human-machine interface, and the simulation test module executes the reset process of the safety chain fault signal of the wind turbine generator set. The shutdown process may include: the simulation test module simulates the blade pitch operation and the deceleration operation based on the blade pitch angle target value and the blade pitch angle target rate corresponding to the shutdown of the wind turbine generator set carried by the shutdown signal, controls the speed reduction until the unit stops, and the speed is 0.

[0094] Further, Figure 7 is a schematic diagram of a simulation test module shown in the present application, as Figure 7 shown, the above simulation test module further includes a fault injection unit, an analog quantity generation unit, a digital quantity generation unit, and a signal conditioning and output unit.

[0095] Among them, the fault injection unit is used to inject fault parameter values according to the safety chain test requirements.

[0096] Among them, the analog quantity generation unit is used to automatically generate physical quantities such as simulated wind speed, rotational speed, power, and mechanical load according to the test requirements

[0097] Among them, the digital quantity generation unit is used to generate digital quantities (such as PWM signals, switch signals, etc.) required for simulating the control signals of the wind turbine generator set.

[0098] Among them, the signal conditioning and output unit electrically isolates, adjusts, and matches the generated analog signals and digital signals to ensure that the signals can meet the electrical requirements of different devices.

[0099] Figure 8 is a schematic diagram of a hardware-in-the-loop test method for the safety chain of a wind turbine generator set shown in the present application, as Figure 8 shown, the hardware-in-the-loop test method for the safety chain of the wind turbine generator set includes the following steps:

[0100] When the wind turbine generator set in the simulation test module is in the standby mode, start the main control module, and the simulation test module can simulate the wind speed and direction and share the simulation parameters with the main control module in real time.

[0101] When the main control module monitors that the continuous duration of the simulated incoming wind speed being greater than the wind speed threshold is greater than the preset duration, or when it monitors that the upper computer sends a start command, it sends a start command to the simulation test module. The start command carries the pitch angle target value and the pitch angle target rate (which can be understood as the adjustment rate of the pitch angle) corresponding to the start of the wind turbine.

[0102] The simulation test module responds to the start command to simulate the start-up process of the wind turbine. Based on the pitch angle target value and the pitch angle target rate corresponding to the start of the wind turbine, it simulates and generates the real-time simulated pitch angle, the real-time simulated pitch change speed, the simulated generator speed, and the simulated wind wheel speed, controls the increase of the generator speed according to the incoming wind speed, and shares the start-up simulation parameters with the main control module in real time.

[0103] After the main control module monitors that the start-up simulation parameters meet the grid connection conditions, it sends a grid connection command to the simulation test module and enters the grid-connected power generation mode.

[0104] When the wind turbine is in the grid-connected power generation mode, the simulation test module generates a safety chain fault signal according to the safety chain test requirements and conducts a hardware-in-the-loop safety test on the safety chain.

[0105] Check whether the safety chain triggers a fault emergency stop on the human-machine interface, the main control module, or the upper computer. If the safety chain sends a stop signal to the main control module and the simulation test module, after receiving the stop signal sent by the safety chain, the simulation test module executes the shutdown process of the wind turbine. This indicates that the safety chain can correctly respond to the fault, and this test is over. Manually or automatically trigger the reset of the safety chain fault signal on the main control module or the human-machine interface, and the simulation test module executes the reset process of the safety chain fault signal of the wind turbine.

[0106] If the safety chain does not trigger a safety chain fault, it means that there is a vulnerability in the safety chain and it cannot respond to the fault signal in a timely manner, and the safety chain needs to be optimized and improved.

[0107] Analyze the test results of the hardware-in-the-loop test of the safety chain and generate a hardware-in-the-loop test report of the safety chain.

[0108] The hardware-in-the-loop testing method for the safety chain of a wind turbine proposed in the embodiments of the present application, through hardware-in-the-loop testing, can simulate the operating states of the wind turbine under various working conditions when the actual hardware devices are connected, conduct comprehensive safety chain fault testing, which helps to identify and discover potential faults and weak links in the safety chain in advance, avoid safety accidents during actual operation; timely discover and repair potential problems, ensure that the safety chain can work properly under various complex working conditions, thereby greatly improving the overall reliability of the wind turbine and reducing the occurrence of system faults; through hardware-in-the-loop testing, potential problems in the safety chain of the wind turbine can be discovered at an early stage, and improvements and optimizations can be carried out in advance, so as to reduce equipment failures and maintenance costs, avoid production losses caused by unexpected shutdowns and faults by ensuring the stable operation of the wind turbine, improve the overall power generation efficiency, and thus enhance economic benefits.

[0109] To implement the above embodiments, the embodiments of the present application also propose an electronic device 900, as Figure 9 shown. The electronic device 900 includes: a processor 901 and a memory 902 communicatively connected to the processor. The memory 902 stores instructions executable by at least one processor. The instructions are executed by at least one processor 901 to implement the hardware-in-the-loop testing method for the safety chain of a wind turbine as shown in the above embodiments.

[0110] To implement the above embodiments, the embodiments of the present application also propose a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to implement the hardware-in-the-loop testing method for the safety chain of a wind turbine as shown in the above embodiments.

[0111] To implement the above embodiments, the embodiments of the present application also propose a computer program product, including a computer program, which implements the hardware-in-the-loop testing method for the safety chain of a wind turbine as shown in the above embodiments when executed by a processor.

[0112] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0113] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more, unless otherwise specifically defined.

[0114] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0115] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A hardware-in-the-loop test system for the safety chain of a wind turbine unit, characterized in that It includes a host computer, a simulation test module, a main control module, and a safety chain, where: The safety chain is the actual safety chain hardware device of the wind turbine generator set, and sends a shutdown signal to the simulation test module and the main control module when it is determined that a safety chain fault is triggered; The main control module controls the simulation test module to simulate the operating state of the wind turbine generator set; The simulation test module is used to generate a safety chain fault signal according to the safety chain test requirements and perform hardware-in-the-loop safety testing on the safety chain when the wind turbine generator set is in the grid-connected power generation mode; The main control module is also used to monitor whether the safety chain triggers a safety chain fault based on the safety chain fault signal, and send a safety chain fault signal reset instruction to the simulation test module after receiving the shutdown signal sent by the safety chain; After receiving the shutdown signal sent by the safety chain, the simulation test module executes the shutdown process of the wind turbine generator set, and performs the reset process of the safety chain fault signal based on the safety chain fault signal reset instruction sent by the main control module; The host computer is used to display each analog signal and status signal corresponding to the wind turbine generator set.

2. The system according to claim 1, characterized in that The simulation test module includes a wind speed and direction simulation unit, a pitch simulation unit, a speed simulation unit, a grid connection simulation unit, a vibration simulation unit, and an emergency shutdown simulation unit, where: The wind speed and direction simulation unit is used to generate the incoming flow simulation wind speed and incoming flow simulation wind direction of the wind turbine generator set; The pitch simulation unit is used to generate the real-time simulation pitch angle and real-time simulation pitch speed of the wind turbine generator set; The speed simulation unit is used to generate the generator simulation speed and wind wheel simulation speed of the wind turbine generator set; The grid connection simulation unit is used to generate grid connection state simulation parameters of the wind turbine generator set, and the grid connection state simulation parameters include grid-connected active power; The vibration simulation unit is used to generate vibration-related parameters of the wind turbine generator set, and the vibration-related parameters include a vibration simulation signal and a vibration acceleration overrun state feedback signal; The emergency shutdown simulation unit is used to generate an emergency shutdown feedback signal of the wind turbine generator set.

3. The system according to claim 2, wherein The main control module controls the simulation test module to simulate the operating state of the wind turbine generator set, including: When the main control module monitors that the continuous duration of the incoming flow simulation wind speed being greater than the wind speed threshold is greater than the preset duration, or monitors that the host computer sends a start instruction, it sends a start instruction to the simulation test module; The simulation test module responds to the start instruction to simulate the start process of the wind turbine generator set and shares the start simulation parameters with the main control module in real time; After the main control module monitors that the start simulation parameters meet the grid connection conditions, it sends a grid connection instruction to the simulation test module and enters the grid-connected power generation mode.

4. The system according to claim 3, wherein In response to the safety chain test requirement being the safety chain overspeed protection function test of the wind turbine generator set, the generating a safety chain fault signal according to the safety chain test requirements includes: Modifying the current generator simulation speed in the simulation test module to a first given generator speed to generate a safety chain fault signal; Wherein, the first given generator speed is greater than the overspeed protection threshold corresponding to the safety chain.

5. The system according to claim 3, wherein In response to the safety chain test requirement being a test of the overspeed protection function of the safety chain of the wind turbine generator set, the generation of the safety chain fault signal according to the safety chain test requirement includes: Modifying the current simulated generator speed in the simulation test module to a second given generator speed to generate a safety chain fault signal; Wherein, the difference between the second given generator speed and the real-time reference value of the generator speed is greater than the overspeed protection threshold corresponding to the safety chain, and the real-time reference value of the generator speed is the product of the simulated wind turbine speed and the transmission ratio of the unit drive system.

6. The system according to claim 3, characterized in that In response to the safety chain test requirement being a test of the emergency shutdown function of the safety chain of the wind turbine generator set, the generation of the safety chain fault signal according to the safety chain test requirement includes: Modifying the current safety chain emergency shutdown feedback signal in the simulation test module from a fault-free state to a fault state.

7. The system according to claim 3, characterized in that, In response to the safety chain test requirement being a test of the vibration overrun protection function of the safety chain of the wind turbine generator set, the generation of the safety chain fault signal according to the safety chain test requirement includes: Modifying the current simulated vibration acceleration in the simulation test module to a given vibration acceleration; Wherein, the given vibration acceleration causes the vibration acceleration overrun state feedback signal corresponding to the safety chain to change from a fault-free state to a fault state.

8. A hardware-in-the-loop test method for the safety chain of a wind turbine unit, characterized in that, Including: Performing a hardware-in-the-loop test of the safety chain of the wind turbine generator set based on the hardware-in-the-loop test system of the safety chain of the wind turbine generator set according to any one of claims 1-7; Analyzing the test results of the hardware-in-the-loop test of the safety chain and generating a hardware-in-the-loop test report of the safety chain.

9. An electronic device, comprising: At least one processor; And, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to claim 8.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the method according to claim 8.

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