Controller hardware-in-loop wind turbine generator transmission chain test platform simulation method

Abstract

The invention belongs to the technical field of power systems, and particularly discloses a controller hardware-in-the-loop wind turbine generator transmission chain test platform simulation method, which comprises the following steps: designing parameters of a wind turbine generator, and constructing a wind turbine generator simulation model; establishing a wind field model, and embedding the wind field model into the wind turbine generator simulation model; constructing a transmission chain model and performing data connection with the wind turbine generator simulation model; constructing a control system comprising a main controller model and a subsystem control system, and establishing a control instruction channel and a feedback signal channel for the subsystem control system and the transmission chain model; deploying a control system in a rapid control prototype, and connecting the control system with the simulation platform through a physical interface; transmission chain operation data are collected in the simulation process, and the control strategy of the experimental platform and the transmission chain performance are evaluated. The hardware-in-the-loop simulation technology is utilized, closed-loop operation between the controller entity and the virtual model is achieved, and the authenticity of transmission chain experiment platform control strategy verification and the flexibility of experiment platform debugging are effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of power systems, and in particular relates to a wind turbine transmission chain test platform simulation method with controller hardware in the loop. Background Art

[0002] Wind turbines, as a typical renewable energy source, have a transmission chain system that plays a critical role in converting wind energy into electricity. These systems are complex in structure, subject to severe operating loads, and require highly coupled control strategies. Ground testing is essential to ensure the reliability and dynamic response of the transmission chain under variable wind conditions, grid disturbances, and complex control strategies.

[0003] However, traditional ground-based transmission chain testing relies heavily on physical loading devices and hardware-in-the-loop control systems. This not only results in high equipment construction costs and low iteration efficiency, but also makes it difficult to flexibly cover a wide range of extreme operating conditions. Furthermore, most current transmission chain testing methods employ "software-in-the-loop" simulation, where control models are run entirely within the simulation platform. This approach fails to accurately reflect the response characteristics of controller hardware, communication delays, and field deployment status, resulting in deviations between control strategy evaluation results and actual results. Summary of the Invention

[0004] In response to the problems in the prior art, the present invention provides a simulation method for a wind turbine transmission chain test platform with controller hardware in the loop, so as to solve the problem that the transmission chain test method in the above-mentioned background technology adopts a "software-in-the-loop" simulation method, which cannot truly reflect the response characteristics, communication delay and on-site deployment status of the controller hardware, resulting in deviations between the control strategy evaluation results and the actual situation.

[0005] The technical solution adopted in the present invention is as follows: In a first aspect, the present application provides a wind turbine transmission chain test platform simulation method with a controller hardware-in-the-loop, the method comprising the following steps: Step S1: design wind turbine parameters and build a wind turbine simulation model in a simulation platform; Step S2: establishing a wind field model and loading the wind field model into the wind turbine simulation model, wherein the wind field model is a turbulent wind field model with three-dimensional spatial characteristics; Step S3: Establish a transmission chain model and connect the data with the wind turbine simulation model; Step S4: constructing a control system, the control system including a main controller model and a subsystem control system; Step S5: The controller hardware is a rapid control prototype. The control system is deployed in the rapid control prototype. The rapid control prototype is connected to the simulation platform where the wind turbine simulation model and the transmission chain model are located through a physical interface to establish data interaction between the controller hardware and the virtual simulation system. Step S6: Collect the operating data of the tested transmission chain during the simulation process, and evaluate the control strategy and transmission chain performance based on the simulated operating data.

[0006] Furthermore, in step S3, the transmission chain model includes a mechanical subsystem model and an electrical subsystem model.

[0007] Furthermore, the mechanical subsystem model includes torque loading devices and non-torque loading devices; The torque loading device includes a drag motor; There are six groups of non-torque loading devices, and the six groups of non-torque loading devices are symmetrically arranged.

[0008] Further, the non-torque loading device includes a hydraulic cylinder; The valve core displacement x v is the input, the loading force F L The output transfer function is obtained through the flow equation of the two chambers of the hydraulic cylinder, the load flow equation of the hydraulic valve and the load force balance equation on the hydraulic cylinder piston; The transfer function is:

[0009] in:

[0010] Among them, ξ h and ω h are the natural damping ratio and hydraulic natural frequency respectively; β e is the effective bulk modulus; K ce is the total flow pressure coefficient of the loader; K h is the hydraulic spring stiffness; K q is the valve port zero flow gain; ε = A2 / A1 is the ratio of the effective working area on both sides of the hydraulic cylinder piston, A1 and A2 are the piston areas of the rodless cavity and the rod cavity of the hydraulic cylinder respectively; V0 is the initial volume of the two cavities of the hydraulic cylinder; K c is the zero flow pressure gain; m p C is the total mass of the hydraulic cylinder piston and its load converted to the piston; tp is the total leakage coefficient of the hydraulic cylinder; K s is the equivalent spring stiffness of the hydrostatic bearing oil film; s is the Laplace operator.

[0011] Furthermore, the electrical subsystem includes a generator model, a converter model, and a grid simulator model; For the generator, a mathematical model under the synchronous rotating coordinate system dq is selected for construction. The generator stator voltage equation is:

[0012] The electromagnetic torque equation is:

[0013] in:

[0014] Among them, u d 、u q are the dq axis components of the stator voltage, i d 、i q are the dq axis components of the stator current, R is the stator resistance, L d , L q are the dq axis inductance components, ψ f is the permanent magnet flux; ω e 、ω m are the electrical angular velocity and mechanical angular velocity of the generator respectively; θ e is the generator electrical angle; p n is the number of generator pole pairs.

[0015] Furthermore, the converter model includes the motor-side converter, the DC bus, and the grid-side converter; The motor-side converter adopts direct torque control strategy, and the grid-side converter adopts a grid voltage and current dual closed loop; The d-axis and q-axis components of the grid-connected current are controlled to adjust the grid-connected active and reactive power. The expressions for the output active and reactive power are as follows: Control the d-axis and q-axis components of the grid-connected current to adjust the grid-connected active and reactive power, and the output active power and reactive power The expression is as follows:

[0016] When the grid voltage integrated vector is oriented on the d-axis, the grid voltage projection on the q-axis is 0, that is, u gq =0, the converter output power changes as follows:

[0017] Among them, u gd 、u gq are the dq axis components of the grid voltage respectively; i gd 、i gq are the dq axis components of the grid current respectively.

[0018] Furthermore, in step S4, the subsystem control system includes a traction motor controller, a non-torque loading controller, a generator controller, a converter controller and a grid simulator controller, which respectively establish a control command channel and a feedback signal channel with the transmission chain model.

[0019] Furthermore, in step S6, grid voltage amplitude / frequency deviation, three-phase imbalance, and harmonic grid disturbance conditions are simulated during the simulation process.

[0020] Furthermore, in step S6, the transmission chain response during the simulation process is evaluated by constructing a performance evaluation system containing multiple indicators, wherein the performance evaluation system includes control response time, transmission chain stress amplitude, speed fluctuation rate, electromagnetic torque mean square error, and stability margin under grid disturbance.

[0021] Furthermore, based on the collected simulation operation data, the effectiveness of the control strategy and the trend of system performance changes are determined in real time. The conditions for determining the effectiveness of the control strategy include that the response time does not exceed the set time limit, the transmission chain structure is not overloaded, and the deviation between the main control instruction and the feedback signal is within the set range.

[0022] It can be seen from the above technical solutions that the advantages of the present invention are: By constructing a wind turbine simulation model, transmission chain model, and control system, and establishing a real-time data closed loop between the virtual system and the real controller, the dynamic characteristics of the transmission chain under wind conditions, grid disturbances, and control strategies can be accurately reproduced without relying on actual machine deployment. This method introduces a turbulent wind field model with three-dimensional spatial characteristics into the virtual simulation platform for the first time, which can fully simulate the operating behavior of the unit under complex real wind conditions. By establishing a transmission chain mechanical subsystem and transmission chain model, and connecting a multi-dimensional sub-module with torque loading and non-torque loading capabilities, full-dimensional loading of axial, radial forces, and multi-axis bending moments is achieved. In terms of control system modeling, by dividing the main controller and multiple subsystem controllers, each responsible for different control objectives, and deploying them to a rapid control prototype, a high-real-time data channel is formed between the controller entity and the simulation model, effectively compensating for the lack of authenticity of the control link in traditional soft-loop simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. 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 paying any creative work.

[0024] Figure 1 Flowchart of the steps of the wind turbine transmission chain test platform simulation method with controller hardware in the loop in the embodiment; Figure 2 Flowchart of the wind turbine transmission chain test platform simulation system with controller hardware in the loop in the embodiment; Figure 3This is an architecture diagram of a wind turbine transmission chain test platform simulation system with a controller hardware-in-the-loop in an embodiment; Figure 4 FIG. 2 is a control block diagram of the machine-side converter in an embodiment. FIG. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] See also Figure 1 As shown, the present invention provides a controller hardware-in-the-loop wind turbine transmission chain test platform simulation method, comprising the following steps: Step S1: design wind turbine parameters and build a wind turbine simulation model in a simulation platform; Define the various parameters of the wind turbine generator set in sequence, such as blades, hub, tower, transmission chain, etc. The blade definition includes information about the blade installation angle, lift coefficient, drag coefficient, and pitch coefficient. After defining the blade parameters, you also need to define data such as the blade's geometric characteristics, mass, and stiffness.

[0027] The hub definition includes data such as the number of blades, hub inclination, rotation direction, and geometric information.

[0028] The tower definition includes tower height, diameter, mass, stiffness and other data.

[0029] The transmission chain definition includes data such as the gearbox speed ratio, inertia of each transmission chain component, mechanical and electrical losses, etc.

[0030] Define the wind turbine control method, select the external controller control mode, and load the pre-compiled external controller dynamic link library file into the Bladed control module.

[0031] Step S2: establishing a wind field model and loading the wind field model into the wind turbine simulation model, wherein the wind field model is a turbulent wind field model with three-dimensional spatial characteristics; A standardized wind field model is established, based on the International Electrotechnical Commission (IEC) wind turbine design specifications (e.g., IEC Class I and IEC Class II wind conditions as defined in IEC 61400-1). A turbulent wind field model with three-dimensional spatial characteristics is constructed. This modeling process supports the configuration of multiple wind condition models, including but not limited to: steady-state uniform wind fields, single-point wind conditions, and transient extreme wind conditions.

[0032] The established three-dimensional wind field model is loaded into the Bladed wind turbine model, providing diversified wind load input conditions that meet international standards for subsequent simulation analysis, and providing a realistic and reliable working environment for the performance verification of the wind turbine.

[0033] Step S3: Establish a transmission chain model in Simulink and connect the data with the wind turbine simulation model; The transmission chain model includes the mechanical subsystem model and the electrical subsystem; The mechanical subsystem model includes torque loading devices and non-torque loading devices; The torque loading device includes a drag motor; Its output reference value is the speed and torque of the main shaft transmitted by Bladed, which accurately simulates the rotation of the main shaft of the wind turbine transmission chain.

[0034] There are six groups of non-torque loading devices, and the six groups of non-torque loading devices are arranged symmetrically; Non-torque loading is used to simulate the six-degree-of-freedom load of a real wind turbine in operation, so as to more realistically simulate the operation of the wind turbine transmission chain; The non-torque loading device includes a hydraulic cylinder; The valve core displacement x v is the input, the loading force F L The output transfer function is obtained through the flow equation of the two chambers of the hydraulic cylinder, the load flow equation of the hydraulic valve and the load force balance equation on the hydraulic cylinder piston; The transfer function is:

[0035] in:

[0036] Among them, ξ h and ω h are the natural damping ratio and hydraulic natural frequency respectively; β e is the effective bulk elastic modulus (including the mechanical flexibility of the oil, connecting pipes and cylinder); K ce is the total flow pressure coefficient of the loader; K h is the hydraulic spring stiffness; K q is the valve port zero flow gain; ε = A2 / A1 is the ratio of the effective working area on both sides of the hydraulic cylinder piston, A1 and A2 are the piston areas of the rodless cavity and the rod cavity of the hydraulic cylinder respectively; V0 is the initial volume of the two cavities of the hydraulic cylinder; K c is the zero flow pressure gain; m p C is the total mass of the hydraulic cylinder piston and its load converted to the piston; tp is the total leakage coefficient of the hydraulic cylinder; K sis the equivalent spring stiffness of the hydrostatic bearing oil film; s is the Laplace operator; The electrical subsystem includes generator model, converter model and grid simulator model; The permanent magnet synchronous generator is the core device for energy conversion in wind turbines. To facilitate the design of the controller, a mathematical model based on the synchronous rotating coordinate system dq is selected for construction. The stator voltage equation can be expressed as:

[0037] The electromagnetic torque equation is:

[0038] in:

[0039] Among them, u d 、u q are the dq axis components of the stator voltage, i d 、i q are the dq axis components of the stator current, R is the stator resistance, L d , L q are the dq axis inductance components, ψ f is the permanent magnet flux; ω e 、ω m are the electrical angular velocity and mechanical angular velocity of the generator respectively; θ e is the generator electrical angle; p n is the number of generator pole pairs; The converter model includes the motor-side converter, DC bus and grid-side converter; The motor-side converter adopts direct torque control strategy, and the grid-side converter adopts a grid voltage and current dual closed loop; The converter model mainly includes the motor side converter, DC bus and grid side converter. The motor side converter adopts direct torque control strategy, please refer to Figure 4 , Figure 4 This is the control block diagram of the machine-side converter: Get the grid current I a , I b , I c And through dq coordinate transformation, we can get its dq component I sd , I sq , where α and β are the middle stationary two-phase orthogonal coordinate systems, projecting the three-phase system onto a two-dimensional plane to facilitate subsequent dq coordinate transformation. The electromagnetic torque of the generator is proportional to the stator q-axis current, so by adjusting I sq The electromagnetic torque of the permanent magnet synchronous generator can be adjusted, and then the speed of the generator and wind turbine can be adjusted to follow the wind speed change, where T ref 、Popt 、ω opt , K mppt , represent torque reference value, optimal power, optimal speed and MPPT control coefficient respectively, I sd_ref , I sq_ref is the reference value of the dq axis current component, T g 、ω s 、ω r Represent the generator torque, stator current angular velocity, generator speed, L s , ψ0 represent the stator inductance and stator flux in the dq coordinate system respectively; exist Figure 4 The middle process is: According to the optimal value of the generator electromagnetic power P opt The optimal torque of the generator is thus calculated, and the maximum power point tracking (MPPT) is achieved through effective control of the generator torque.

[0040] Detect the rotor position to obtain the electrical angle θ of the permanent magnet synchronous generator (PMSG) e , and take its derivative (dθ e / dt) to obtain the electrical angular velocity ω e The mechanical speed ω is obtained by combining the motor pole pair number and other parameters. r .K mppt As the optimal power tracking coefficient of the wind turbine, the reference torque T of the generator is generated by the optimal torque method. ref .

[0041] The optimal torque method is ; Reference torque T ref The actual electromagnetic torque T of the generator g The difference is made and regulated by the PI controller to output the q-axis current reference value I sq_ref , the d-axis current adopts the vector control strategy of id=0.

[0042] Since there is a cross-coupling term in the dq axis voltage in the dq rotating coordinate system (-L s *ω s *i sq+ ω s *ψ0 and L s *ω s *i sq ), these coupling terms need to be compensated to obtain the final dq axis voltage reference value U sd with U sq The corresponding PWM switching signal is generated according to the voltage reference signal. PWM is pulse width modulation, which controls the power switching devices in the machine-side converter to adjust the voltage and current output by the converter to the permanent magnet synchronous motor.

[0043] The grid-side converter uses a dual closed-loop circuit for grid voltage and current. The outer loop is the voltage loop, which can dynamically track grid-side power changes in real time and indirectly determine the stability of the DC bus voltage. The inner loop is the current loop, which can regulate the reactive power on the AC side.

[0044] Control the d-axis and q-axis components of the grid-connected current to adjust the grid-connected active and reactive power, and the output active power and reactive power The expression is as follows:

[0045] When the grid voltage integrated vector is oriented on the d-axis, the grid voltage projection on the q-axis is 0, that is, u gq =0, the converter output power changes as follows:

[0046] Among them, u gd 、u gq are the dq axis components of the grid voltage respectively; i gd 、i gq are the dq axis components of the grid current respectively; Step S4: constructing a control system, which includes a main controller model and a subsystem control system, and establishing a control command channel and a feedback signal channel between the subsystem control system and the transmission chain model; The subsystem control system includes a traction motor controller, a non-torque loading controller, a generator controller, a converter controller, and a power grid simulator controller, which respectively establish control command channels and feedback signal channels with the transmission chain model; Step S5: The controller hardware is a rapid control prototype. The control system is deployed in the rapid control prototype. The rapid control prototype is connected to the simulation platform where the wind turbine simulation model and the transmission chain model are located through a physical interface to establish a real-time data interaction channel between the controller entity and the virtual simulation system. Step S6: collecting the operating data of the tested transmission chain during the simulation process, and evaluating the control strategy and transmission chain performance based on the simulated operating data; During the simulation process, grid voltage amplitude / frequency deviation, three-phase imbalance and harmonic grid disturbance conditions are simulated; Collect transmission chain test data based on the test content. For example, based on the load test content, define calculation simulation conditions, including environmental conditions and grid conditions. Different working condition simulations correspond to different mechanical subsystem reference signals, as well as generator grid-connected related parameters. The collected data includes the rotor speed of the traction motor, the main shaft speed of the tested nacelle, the active power of the generator, the six-degree-of-freedom load, etc. The six-degree-of-freedom load data provides data support for the reliability verification of the transmission chain. If the load data exceeds the safety threshold allowed by the transmission chain, the relevant control strategy needs to be adjusted until the load remains within the safe range; The transmission chain response during the simulation process is evaluated by constructing a performance evaluation system containing multiple indicators. The performance evaluation system includes control response time, transmission chain stress amplitude, speed fluctuation rate, electromagnetic torque mean square error, and stability margin under grid disturbance.

[0047] Based on the collected simulation operation data, the effectiveness of the control strategy and the trend of system performance changes are determined in real time. The conditions for determining the effectiveness of the control strategy include that the response time does not exceed the set time limit, the transmission chain structure is not overloaded, and the deviation between the main control instruction and the feedback signal is within the set range.

[0048] In some embodiments, see Figure 2-Figure 4 As shown, the present application provides a wind turbine transmission chain test platform simulation system with a controller hardware-in-the-loop, the system comprising: The main controller layer includes the wind turbine main controller model, which is used to generate operation control instructions under simulation conditions; The simulator layer includes wind turbine model, wind farm model, mechanical subsystem model and transmission chain model. The wind turbine model interacts with the wind farm model data to receive wind condition simulation data output by the wind farm model. The main controller layer is responsible for wind turbine operation control and coordinated control, and is responsible for sending the wind turbine power reference value P ref , receiving the wind wheel speed ω of the simulator layer m , torque T m and the generator electromagnetic torque T e Variables such as the genset ID and the like are sent to the subsystem controller layer. When the system is running, the Bladed model generates unit operation data under different working conditions in real time and transmits it to the simulation machine through a high-speed communication protocol.

[0049] The subsystem controller layer includes the traction motor controller, generator controller, converter controller and power grid simulator controller. Each controller establishes a control command channel and feedback signal channel with the corresponding subsystem model in the simulator layer. Rapid control prototyping, used to host the main controller model and subsystem control systems; Real-time simulation platform, used to host various models of the simulator layer and realize real-time data interaction with rapid control prototypes; The physical I / O interface is used to connect the rapid control prototype with the real-time simulation platform and build a real-time closed-loop communication path between the controller entity and the virtual simulation model.

[0050] The mechanical subsystem model in the simulator layer includes a torque loading device and a non-torque loading device. The torque loading device includes a drag motor, and the non-torque loading device includes six groups of symmetrically arranged hydraulic cylinder loading structures. The six groups of symmetrically arranged hydraulic cylinder loading structures serve as five-degree-of-freedom loading devices to simulate multi-degree-of-freedom non-torque interference loads in the operation of the transmission chain.

[0051] In some embodiments, the present application provides a terminal, including: A memory for storing a simulation program of a wind turbine transmission chain test platform with a controller hardware-in-the-loop; The processor is used to implement the steps of the controller hardware-in-the-loop wind turbine transmission chain test platform simulation method when executing the controller hardware-in-the-loop wind turbine transmission chain test platform simulation system.

[0052] In some embodiments, the present application provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the controller hardware-in-the-loop wind turbine transmission chain test platform simulation method.

[0053] It is understood that the systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or physical devices, or by products having certain functions. A typical implementation device is a computer, which may be a personal computer, a laptop computer, a personal digital assistant, a tablet computer, a wearable device, or a combination of any of these devices.

[0054] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0055] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0056] Computer-readable media include permanent and non-permanent, removable and non-removable media that can implement information storage by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined in this embodiment, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0057] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0058] It should be understood that although the terms first, second, third, etc. may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when..." or "when..." or "in response to determining."

[0059] The above description is merely a preferred embodiment of one or more embodiments of this specification and is not intended to limit one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification shall be included in the scope of protection of one or more embodiments of this specification.

Claims

1. A wind turbine transmission chain test platform simulation method with controller hardware in the loop is characterized by: The following steps are involved: Step S1: design wind turbine parameters and build a wind turbine simulation model in a simulation platform; Step S2: establishing a wind field model and loading the wind field model into the wind turbine simulation model, wherein the wind field model is a turbulent wind field model with three-dimensional spatial characteristics; Step S3: Establish a transmission chain model and connect the data with the wind turbine simulation model; Step S4: constructing a control system, the control system including a main controller model and a subsystem control system; Step S5: The controller hardware is a rapid control prototype. The control system is deployed in the rapid control prototype. The rapid control prototype is connected to the simulation platform where the wind turbine simulation model and the transmission chain model are located through a physical interface to establish data interaction between the controller hardware and the virtual simulation system. Step S6: Collect the operating data of the tested transmission chain during the simulation process, and evaluate the control strategy and transmission chain performance based on the simulated operating data.

2. The controller hardware-in-the-loop wind turbine transmission chain test platform simulation method according to claim 1 is characterized in that: In step S3 , the transmission chain model includes a mechanical subsystem model and an electrical subsystem model.

3. The controller hardware-in-the-loop wind turbine transmission chain test platform simulation method according to claim 2 is characterized in that: The mechanical subsystem model includes torque loading devices and non-torque loading devices; The torque loading device includes a drag motor; There are six groups of non-torque loading devices, and the six groups of non-torque loading devices are symmetrically arranged.

4. The controller hardware-in-the-loop wind turbine transmission chain test platform simulation method according to claim 3 is characterized in that: The non-torque loading device includes a hydraulic cylinder; The valve core displacement x v is the input, the loading force F L The output transfer function is obtained through the flow equation of the two chambers of the hydraulic cylinder, the load flow equation of the hydraulic valve and the load force balance equation on the hydraulic cylinder piston; The transfer function is: in: Among them, ξ h and ω h are the natural damping ratio and hydraulic natural frequency respectively; β e is the effective bulk modulus; K ce is the total flow pressure coefficient of the loader; K h is the hydraulic spring stiffness; K q is the valve port zero flow gain; ε = A2 / A1 is the ratio of the effective working area on both sides of the hydraulic cylinder piston, A1 and A2 are the piston areas of the rodless cavity and the rod cavity of the hydraulic cylinder respectively; V0 is the initial volume of the two cavities of the hydraulic cylinder; K c is the zero flow pressure gain; m p C is the total mass of the hydraulic cylinder piston and its load converted to the piston; tp is the total leakage coefficient of the hydraulic cylinder; K s is the equivalent spring stiffness of the hydrostatic bearing oil film; s is the Laplace operator.

5. The controller hardware-in-the-loop wind turbine transmission chain test platform simulation method according to claim 2 is characterized in that: The electrical subsystem includes generator model, converter model and grid simulator model; For the generator, a mathematical model under the synchronous rotating coordinate system dq is selected for construction. The generator stator voltage equation is: The electromagnetic torque equation is: in: Among them, u d 、u q are the dq axis components of the stator voltage, i d 、i q are the dq axis components of the stator current, R is the stator resistance, L d , L q are the dq axis inductance components, ψ f is the permanent magnet flux; ω e 、ω m are the electrical angular velocity and mechanical angular velocity of the generator respectively; θ e is the generator electrical angle; p n is the number of generator pole pairs.

6. The controller hardware-in-the-loop wind turbine transmission chain test platform simulation method according to claim 5, characterized in that: The converter model includes the motor-side converter, DC bus and grid-side converter; The motor-side converter adopts direct torque control strategy, and the grid-side converter adopts a grid voltage and current dual closed loop; Control the d-axis and q-axis components of the grid-connected current to adjust the grid-connected active and reactive power, and the output active power and reactive power The expression is as follows: When the grid voltage integrated vector is oriented on the d-axis, the grid voltage projection on the q-axis is 0, that is, u gq =0, the converter output power changes as follows: Among them, u gd 、u gq are the dq axis components of the grid voltage respectively; i gd 、i gq are the dq axis components of the grid current respectively.

7. The controller hardware-in-the-loop wind turbine transmission chain test platform simulation method according to claim 1, characterized in that: In step S4, the subsystem control system includes a traction motor controller, a non-torque loading controller, a generator controller, a converter controller and a grid simulator controller, which respectively establish a control command channel and a feedback signal channel with the transmission chain model.

8. The controller hardware-in-the-loop wind turbine transmission chain test platform simulation method according to claim 1, characterized in that: In step S6, the grid voltage amplitude / frequency deviation, three-phase imbalance and harmonic grid disturbance conditions are simulated during the simulation process.

9. The controller hardware-in-the-loop wind turbine transmission chain test platform simulation method according to claim 1, characterized in that: In step S6, the transmission chain response during the simulation process is evaluated by constructing a performance evaluation system containing multiple indicators, wherein the performance evaluation system includes control response time, transmission chain stress amplitude, speed fluctuation rate, electromagnetic torque mean square error, and stability margin under grid disturbance.

10. The controller hardware-in-the-loop wind turbine transmission chain test platform simulation method according to claim 9, characterized in that: Based on the collected simulation operation data, the effectiveness of the transmission chain test platform control strategy and the system performance change trend are determined in real time. The judgment conditions for the effectiveness of the control strategy include that the response time does not exceed the set time limit, the transmission chain structure is not overloaded, and the deviation between the main control instruction and the feedback signal is within the set range.

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