Simulation method of wind turbine drive train test platform based on controller hardware-in-the-loop

Abstract

The application belongs to the technical field of power systems, and specifically discloses a wind turbine transmission chain test platform simulation method based on controller hardware-in-the-loop, which comprises the following steps: designing wind turbine parameters, constructing a wind turbine simulation model; establishing a wind farm model and embedding it into the wind turbine simulation model; constructing a transmission chain model and connecting it with the wind turbine 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 between the subsystem control system and the transmission chain model; deploying the control system in a fast control prototype and connecting it with the simulation platform through a physical interface; collecting transmission chain operation data during the simulation process, and evaluating the control strategy of the test platform and the performance of the transmission chain. The application utilizes hardware-in-the-loop simulation technology to realize closed-loop operation between the controller entity and the virtual model, effectively improving the authenticity of the control strategy verification of the transmission chain test platform and the flexibility of the test platform debugging.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of power systems, and particularly relates to a wind turbine generator system transmission chain test platform simulation method based on controller hardware-in-the-loop. BACKGROUND

[0002] As typical renewable energy equipment, the transmission chain system of a wind turbine generator bears the key task of converting wind energy into electric energy, and has a complex structure, severe operating load and highly coupled control strategy. In order to ensure the reliability and dynamic response performance of the transmission chain under variable wind conditions, power grid disturbances and complex control strategies, ground tests must be carried out for verification.

[0003] However, traditional transmission chain ground tests mostly rely on physical loading devices and semi-physical control systems, which not only have high equipment construction costs and low iteration efficiency, but also are difficult to flexibly cover a variety of extreme conditions. In addition, most current transmission chain test methods use a "software-in-the-loop" simulation method, in which the control model is completely run on a simulation platform, and the response characteristics of the controller hardware, communication delay and field deployment state cannot be truly reflected, resulting in deviations between the control strategy evaluation results and the actual situation. SUMMARY

[0004] The application provides a wind turbine generator system transmission chain test platform simulation method based on controller hardware-in-the-loop to solve the problem that the transmission chain test method in the background technology uses a "software-in-the-loop" simulation method, which cannot truly reflect the response characteristics of the controller hardware, communication delay and field deployment state, resulting in deviations between the control strategy evaluation results and the actual situation.

[0005] The technical solution adopted by the application is as follows:

[0006] In a first aspect, the application provides a wind turbine generator system transmission chain test platform simulation method based on controller hardware-in-the-loop, which includes the following steps:

[0007] Step S1, design wind turbine generator parameters, and construct a wind turbine generator simulation model in a simulation platform;

[0008] Step S2, establish a wind farm model and load the wind farm model into the wind turbine generator simulation model, the wind farm model being a turbulent wind field model with three-dimensional spatial characteristics;

[0009] Step S3, establish a transmission chain model and perform data docking with the wind turbine generator simulation model;

[0010] Step S4, construct a control system, the control system including a main controller model and a subsystem control system;

[0011] 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 with the simulation platform where the wind turbine simulation model and the transmission chain model are located through a physical interface, and data interaction between the controller hardware and the virtual simulation system is constructed;

[0012] Step S6, the transmission chain operation data of the subject is collected in the simulation process, and the control strategy and the transmission chain performance are evaluated according to the simulation operation data.

[0013] Further, in step S3, the transmission chain model includes a mechanical subsystem model and an electrical subsystem.

[0014] Further, the mechanical subsystem model includes a torque loading device and a non-torque loading device.

[0015] The torque loading device includes a drag motor.

[0016] The non-torque loading device is provided with six groups, and the six groups of non-torque loading devices are symmetrically arranged.

[0017] Further, the non-torque loading device includes a hydraulic cylinder.

[0018] The transfer function with the spool displacement x v as input and the loading force F L as output is obtained through the flow equation of the two cavities of the hydraulic cylinder, the load flow equation of the hydraulic valve, and the loading force balance equation on the piston of the hydraulic cylinder.

[0019] The transfer function is:

[0020]

[0021] Wherein:

[0022]

[0023] Wherein, ξ h and ω h are the inherent damping ratio and the hydraulic inherent frequency respectively; β e is the effective bulk modulus of elasticity; 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 effective area ratio of the two 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 is the total mass of the hydraulic cylinder piston and its load converted to the piston; C tp is the total leakage coefficient of the hydraulic cylinder; K sis the equivalent spring stiffness of the oil film in the hydrostatic bearing; s is the Laplace operator.

[0024] Furthermore, the electrical subsystem includes generator models, converter models, and grid simulator models;

[0025] For the generator, a mathematical model is constructed using the synchronous rotating coordinate system dq. The generator stator voltage equation is:

[0026]

[0027] The electromagnetic torque equation is:

[0028]

[0029] in:

[0030]

[0031] Among them, u d u q These are the dq-axis components of the stator voltage, i d i q These are the dq-axis components of the stator current, where R is the stator resistance and L is the dq-axis component. d L q These are the dq-axis inductance components, ψ f For permanent magnet flux linkage; ω e ω m These are the generator's electrical angular velocity and mechanical angular velocity, respectively; θ e p is the electric angle of the generator; n This represents the number of pole pairs of the generator.

[0032] Furthermore, the converter model includes the motor-side converter, the DC bus, and the grid-side converter;

[0033] The motor-side converter adopts a direct torque control strategy, while the grid-side converter adopts a dual closed-loop circuit for grid voltage and current.

[0034] The d-axis and q-axis components of the grid-connected current are used to adjust the active and reactive power of the grid connection. The expressions for the output active and reactive power are as follows:

[0035] The d-axis and q-axis components of the grid-connected current are controlled to adjust the active and reactive power of the grid connection, and the output active power is adjusted accordingly. and reactive power The expression is as follows:

[0036]

[0037] When the grid voltage composite vector is oriented on the d-axis, the grid voltage projection on the q-axis is 0, i.e., u gq=0, the converter output power changes as follows:

[0038]

[0039] Wherein, u gd , u gq are d-q axis components of grid voltage; i gd , i gq are d-q axis components of grid current.

[0040] Further, in step S4, the subsystem control system includes a drag motor controller, a non-torque loading controller, a generator controller, a converter controller and a grid simulator controller, which respectively establish control instruction channels and feedback signal channels with the transmission chain model.

[0041] Further, in step S6, the simulation process simulates grid voltage amplitude / frequency deviation, three-phase imbalance and harmonic grid disturbance working conditions.

[0042] Further, in step S6, the transmission chain response in the simulation process is evaluated by constructing a performance evaluation system including multiple indexes, and the performance evaluation system includes control response time, transmission chain stress amplitude, speed fluctuation rate, electromagnetic torque mean square deviation, and stability margin under grid disturbance.

[0043] Further, based on the collected simulation running data, the effectiveness of the control strategy and the system performance change trend are determined in real time, and the determination conditions of the control strategy effectiveness 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.

[0044] Through the above technical scheme, the advantages of the present application are as follows:

[0045] By constructing a wind turbine simulation model, a transmission chain model and a control system, a real-time data closed loop between a virtual system and a real controller is established, which can accurately reproduce the transmission chain dynamic characteristics under the action of wind conditions, grid disturbance and control strategy without relying on actual machine deployment. The method first introduces a turbulent wind field model with three-dimensional space characteristics in a virtual simulation platform, which can simulate the operation behavior of the unit under complex real wind conditions; by establishing a transmission chain mechanical subsystem and a transmission chain model, and connecting a multi-dimensional sub-module with torque loading and non-torque loading capability, axial, radial force and multi-axis bending moment working conditions are realized. In the aspect of control system modeling, by dividing the main controller and multiple subsystem controllers, different control targets are respectively responsible for, and are deployed to the rapid control prototype, forming a high real-time data channel between the controller entity and the simulation model, which effectively makes up for the problem of insufficient reality of the control link in the traditional soft ring simulation. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the present application, the drawings required to be used in the description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0047] Figure 1 The flow chart of the simulation method of the wind turbine transmission chain test platform in the controller hardware-in-the-loop of the embodiment;

[0048] Figure 2 The flow chart of the simulation system of the wind turbine transmission chain test platform in the controller hardware-in-the-loop of the embodiment;

[0049] Figure 3 The architecture diagram of the simulation system of the wind turbine transmission chain test platform in the controller hardware-in-the-loop of the embodiment;

[0050] Figure 4 The control block diagram of the machine-side converter in the embodiment. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present application.

[0052] Please refer to Figure 1 The present application provides a simulation method of a wind turbine transmission chain test platform in a controller hardware-in-the-loop, which comprises the following steps:

[0053] Step S1, designing the parameters of the wind turbine, and constructing a simulation model of the wind turbine in the simulation platform;

[0054] The parameters of the wind turbine, such as the parameters of the blades, the hub, the tower, the transmission chain, etc., are defined in sequence.

[0055] The definition of the blades includes the installation angle of the blades, the lift coefficient, the resistance coefficient and the pitch coefficient information. After the parameters of the blades are defined, the geometric characteristics, the mass and the stiffness of the blades, etc., need to be defined.

[0056] The definition of the hub includes the number of the blades, the inclination angle of the hub, the rotation direction and the geometric information, etc.

[0057] The definition of the tower includes the height, the diameter, the mass, the stiffness, etc., of the tower.

[0058] The transmission chain definition includes the gear box gear ratio, the inertia of each component of the transmission chain, mechanical and electrical losses, and other data.

[0059] The wind turbine control mode is defined, the external controller control mode is selected, and the pre-compiled external controller dynamic link library file is loaded into the Bladed control module.

[0060] Step S2, a wind farm model is established, and the wind farm model is loaded into the wind turbine simulation model, the wind farm model being a turbulent wind field model with three-dimensional spatial characteristics;

[0061] A standardized wind farm model is established, and a turbulent wind field model with three-dimensional spatial characteristics is constructed based on the International Electrotechnical Commission (IEC) wind turbine design specification (such as the IEC class, IEC class, and other wind condition levels specified in the IEC 61400-1 standard). The modeling process supports the configuration of multiple wind condition modes, including but not limited to: steady uniform wind field, single point value wind condition, and transient extreme wind condition, etc.

[0062] The established three-dimensional wind field model is loaded into the Bladed wind turbine model, providing diversified wind load input conditions in accordance with international standards for subsequent simulation analysis, and providing a real and reliable working condition environment for performance verification of the wind turbine.

[0063] Step S3, a transmission chain model is established in Simulink, and data is connected with the wind turbine simulation model;

[0064] The transmission chain model includes a mechanical subsystem model and an electrical subsystem;

[0065] The mechanical subsystem model includes a torque loading device and a non-torque loading device;

[0066] The torque loading device includes a drag motor;

[0067] The output reference value is the rotational 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.

[0068] The non-torque loading device is provided with six groups, and the six groups of non-torque loading devices are symmetrically arranged;

[0069] The non-torque loading is to simulate the six-degree-of-freedom load when the real wind turbine is running, so as to more truly simulate the running condition of the wind turbine transmission chain;

[0070] The non-torque loading device includes a hydraulic cylinder;

[0071] The valve core displacement x v is input, and the loading force F LThe transfer function for the output is obtained by 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 of the piston of the hydraulic cylinder.

[0072] The transfer function is:

[0073]

[0074] Wherein:

[0075]

[0076] Wherein, ξ h and ω h are the inherent damping ratio and the hydraulic inherent frequency respectively; β e is the effective bulk modulus of elasticity (including the oil, the mechanical flexibility of the connecting pipeline and the cylinder body); 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 effective area ratio of the two sides of the hydraulic cylinder piston, A1 and A2 are the piston areas of the rodless chamber and the rod chamber of the hydraulic cylinder respectively; V0 is the initial volume of the two chambers of the hydraulic cylinder; K c is the zero flow pressure gain; m p is the total mass of the hydraulic cylinder piston and its load converted to the piston; C tp is the total leakage coefficient of the hydraulic cylinder; K s is the equivalent spring stiffness of the oil film of the static pressure bearing; s is the Laplace operator;

[0077] The electrical subsystem includes a generator model, a converter model and a grid simulator model;

[0078] The permanent magnet synchronous generator is the core device of energy conversion of the wind turbine, in order to facilitate the design of the controller, the mathematical model in the synchronous rotating coordinate system d-q is selected to build, and the stator voltage equation can be expressed as:

[0079]

[0080] The electromagnetic torque equation is:

[0081]

[0082] Wherein:

[0083]

[0084] Wherein, u d , u q are the d-q axis components of the stator voltage, i d , i qThese are the dq-axis components of the stator current, where R is the stator resistance and L is the dq-axis component. d L q These are the dq-axis inductance components, ψ f For permanent magnet flux linkage; ω e ω m These are the generator's electrical angular velocity and mechanical angular velocity, respectively; θ e p is the electric angle of the generator; n This represents the number of pole pairs of the generator;

[0085] The converter model includes the motor-side converter, the DC bus, and the grid-side converter;

[0086] The motor-side converter adopts a direct torque control strategy, while the grid-side converter adopts a dual closed-loop circuit for grid voltage and current.

[0087] The converter model mainly includes the motor-side converter, the DC bus, and the grid-side converter. The motor-side converter employs a direct torque control strategy; please refer to [link to relevant documentation]. Figure 4 , Figure 4 Control block diagram of the generator-side converter: Obtaining grid current I a I b I c And its dq component I is obtained through dq coordinate transformation. sd I sq Where α and β are the intermediate stationary two-phase orthogonal coordinate systems, projecting the three-phase system onto a two-dimensional plane facilitates subsequent dq coordinate transformation. The electromagnetic torque of the generator is proportional to the stator q-axis current; therefore, by adjusting I... sq This allows adjustment of the electromagnetic torque of the permanent magnet synchronous generator, thereby regulating the speed of the generator and wind turbine to follow wind speed changes, where T... ref P opt ω opt K mppt , represent the torque reference value, optimal power, optimal speed, and MPPT control coefficient, respectively. sd_ref I sq_ref T is the reference value for the dq-axis current component. g ω s ω r L represents generator torque, stator current angular velocity, and generator speed, respectively. s ψ0 and ψ0 represent the stator inductance and stator flux linkage in the dq coordinate system, respectively;

[0088] exist Figure 4 The intermediate process is as follows: based on the optimal value P of the generator electromagnetic power optThus, the optimal torque of the generator is calculated, and the maximum power point tracking (MPPT) is realized by effectively controlling the torque of the generator.

[0089] The rotor position is detected to obtain the electrical angle θ of the permanent magnet synchronous generator (PMSG) e , and the electrical angular velocity ω is obtained by deriving (dθ e / dt). The mechanical angular velocity ω e is obtained by converting the parameters such as the number of pole pairs of the motor. K r is the optimal power tracking coefficient of the wind turbine generator, and the reference torque T mppt of the generator is generated by the optimal torque method. ref .

[0090] The optimal torque method is .

[0091] The reference torque T ref is subtracted from the actual electromagnetic torque T g of the generator, and the q-axis current reference value I sq_ref is output after being adjusted by a PI controller, and the d-axis current is controlled by the vector control strategy of id=0.

[0092] In the d-q rotating coordinate system, the d-q axis voltages have cross-coupling terms (-L s *ω s *i sq+ ω s *ψ0 and L s *ω s *i sq ), which need to be compensated to obtain the final d-q axis voltage reference values U sd and U sq . According to the voltage reference signals, corresponding PWM switching signals are generated, PWM is pulse width modulation, and the power switching devices in the machine-side converter are controlled to adjust the voltage and current output from the converter to the permanent magnet synchronous motor.

[0093] The grid-side converter adopts a grid voltage and current double-loop circuit, the outer loop is a voltage loop, which can dynamically track the grid-side power in real time and indirectly determine the stability of the DC bus voltage. The inner loop is a current loop, which can realize the adjustment function of the reactive power on the AC side.

[0094] The d-axis and q-axis components of the grid-connected current are controlled to adjust the grid-connected active and reactive power, and the output active power P and reactive power Q are expressed as follows:

[0095]

[0096] When the grid voltage synthetic vector is oriented on the d-axis, so that the grid voltage is projected on the q-axis as 0, i.e. u gq = 0, the converter output power changes as follows:

[0097]

[0098] wherein u gd , u gq are the d-q axis components of the grid voltage; i gd , i gq are the d-q axis components of the grid current;

[0099] Step S4, constructing a control system, the control system including a main controller model and a subsystem control system, the subsystem control system being established with the transmission chain model to form a control instruction channel and a feedback signal channel;

[0100] The subsystem control system includes a drag motor controller, a non-torque loading controller, a generator controller, a converter controller and a grid simulator controller, which are respectively established with the transmission chain model to form a control instruction channel and a feedback signal channel;

[0101] Step S5, the controller hardware being a rapid control prototype, the control system being deployed in the rapid control prototype, the rapid control prototype being connected with the simulation platform where the wind turbine simulation model and the transmission chain model are located through a physical interface, to form a real-time data interaction channel between the controller entity and the virtual simulation system;

[0102] Step S6, collecting the transmission chain operation data of the test subject in the simulation process, and evaluating the control strategy and the transmission chain performance according to the simulation operation data;

[0103] In the simulation process, the grid voltage amplitude / frequency deviation, three-phase imbalance and harmonic grid disturbance working conditions are simulated;

[0104] Transmission chain test data are collected according to the test content, for example, based on the load test test content, the simulation working conditions are defined and calculated, including the environmental working conditions and the grid working conditions. Different working condition simulations correspond to different mechanical subsystem reference signals, as well as the generator grid-connected related parameters. The collected data include the drag motor rotor speed, the measured nacelle main shaft speed, the generator active power, the six-degree-of-freedom load, etc. The six-degree-of-freedom load data provide data support for the reliability verification of the transmission chain. If the load data exceeds the safety threshold that the transmission chain can bear, the related control strategy needs to be adjusted until the load remains within the safety range;

[0105] The transmission chain response in the simulation process is evaluated through the construction of a performance evaluation system including multiple indexes, the performance evaluation system including the control response time, the transmission chain stress amplitude, the speed fluctuation rate, the electromagnetic torque mean square deviation, and the stability margin under grid disturbance.

[0106] Based on the collected simulation operation data, the effectiveness of the control strategy and the system performance change trend are determined in real time, wherein the determination conditions of the control strategy effectiveness include that the response time is not more than 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.

[0107] In some embodiments, referring to Figures 2-4 The application provides a controller hardware-in-the-loop wind turbine transmission chain test platform simulation system, which comprises:

[0108] a main controller layer comprising a wind turbine main controller model, used for generating operation control instructions under a simulation working condition;

[0109] a simulator layer comprising a wind turbine model, a wind farm model, a mechanical subsystem model and a transmission chain model, the wind turbine model and the wind farm model interact with each other and accept wind condition simulation data output by the wind farm model, the main controller layer is responsible for wind turbine operation control and cooperative control, and it is responsible for sending a wind turbine power reference value P ref , receiving variables such as a wind wheel rotating speed ω m , a torque T m and a generator electromagnetic torque T e of the simulator layer and sending them to the subsystem controller layer, when the system is running, the Bladed model generates wind turbine operation data under different working conditions in real time, and the operation data is transmitted to the simulation machine through a high-speed communication protocol.

[0110] a subsystem controller layer comprising a drag motor controller, a generator controller, a converter controller and a power grid simulator controller, each controller establishes a control instruction channel and a feedback signal channel with a corresponding subsystem model in the simulator layer;

[0111] a fast control prototype used for carrying the main controller model and the subsystem control system;

[0112] a real-time simulation platform used for carrying each model in the simulator layer and realizing real-time data interaction with the fast control prototype;

[0113] a physical I / O interface used for connecting the fast control prototype and the real-time simulation platform and constructing a real-time closed-loop communication path between a controller entity and a virtual simulation model.

[0114] The mechanical subsystem model in the simulator layer comprises a torque loading device and a non-torque loading device, the torque loading device comprises a drag motor, and the non-torque loading device comprises six groups of symmetrically arranged hydraulic cylinder loading structures, the six groups of symmetrically arranged hydraulic cylinder loading structures are used as five-degree-of-freedom loading devices for simulating multi-degree-of-freedom non-torque interference loads in transmission chain operation.

[0115] In some embodiments, the present application provides a terminal, comprising:

[0116] a memory for storing a wind turbine drivetrain test platform simulation program of the controller-in-the-loop;

[0117] a processor for executing the wind turbine drivetrain test platform simulation method of the controller-in-the-loop when the wind turbine drivetrain test platform simulation system of the controller-in-the-loop is executed.

[0118] In some embodiments, the present application provides a computer readable storage medium, which stores computer instructions, when a computer reads the computer instructions in the storage medium, the computer executes the wind turbine drivetrain test platform simulation method of the controller-in-the-loop.

[0119] It can be understood that the systems, apparatuses, modules or units illustrated by the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, and the specific form of the computer can 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.

[0120] In a typical configuration, a computer includes one or more processors (CPU), input / output interface, network interface, and memory.

[0121] The memory can include non-persistent memory in computer readable media, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer readable media.

[0122] Computer-readable media includes permanent and non-permanent, movable and non-movable 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, disk storage, quantum memory, graphene-based storage medium or other magnetic storage device, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition in this embodiment, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0123] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusion, such that processes, methods, articles or devices that include a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device that includes the element.

[0124] It should be understood that although one or more embodiments of the present specification can employ the terms first, second, third, etc. to describe various information, these 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 the present specification, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining".

[0125] The above description is only the preferred embodiment of one or more embodiments of the present specification, and is not intended to limit one or more embodiments of the present specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of the present specification should be included in the scope of protection of one or more embodiments of the present specification.

Claims

1. A simulation method of a wind turbine drivetrain test platform in a controller hardware-in-the-loop, characterized in that, The method comprises the following steps: Step S1, designing wind turbine parameters, and constructing a wind turbine simulation model in a simulation platform; Step S2, establishing a wind farm model, and loading the wind farm model into the wind turbine simulation model, wherein the wind farm model is a turbulent wind field model with three-dimensional spatial characteristics; Step S3, establishing a transmission chain model, and performing data docking with the wind turbine simulation model; The transmission chain model comprises a mechanical subsystem model and an electrical subsystem; The mechanical subsystem model comprises a torque loading device and a non-torque loading device; The torque loading device comprises a drag motor; The non-torque loading device is provided in six groups, and the six groups of non-torque loading devices are symmetrically arranged; The non-torque loading device comprises a hydraulic cylinder; The transfer function with the spool displacement x v as input and the load force F L as output is obtained by 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 piston of the hydraulic cylinder. The transfer function is: wherein: where ξ h and ω h are the inherent damping ratio and the inherent frequency of the hydraulic system, respectively; β e is the effective bulk modulus of elasticity; K ce is the total flow pressure coefficient of the loader; K h is the hydraulic spring stiffness; K q is the zero-flow gain of the valve port; ε=A2 / A1 is the effective area ratio of the two sides of the hydraulic cylinder piston, A1 and A2 are the piston areas of the rodless chamber and the rod chamber of the hydraulic cylinder, respectively; V0 is the initial volume of the two chambers of the hydraulic cylinder; K c is the zero-flow pressure gain; m p is the total mass of the hydraulic cylinder piston and its load converted to the piston; C tp is the total leakage coefficient of the hydraulic cylinder; K s is the equivalent spring stiffness of the oil film of the static pressure bearing; s is the Laplace operator; The electrical subsystem comprises a generator model, a converter model, and a power grid simulator model; For the generator, a mathematical model in a synchronous rotating coordinate system d-q is selected to be built, and a generator stator voltage equation is: An electromagnetic torque equation is: wherein: Among them, u d u q These are the dq-axis components of the stator voltage, i d i q These are the dq-axis components of the stator current, where R is the stator resistance and L is the dq-axis component. d L q These are the dq-axis inductance components, ψ f For permanent magnet flux linkage; ω e ω m These are the generator's electrical angular velocity and mechanical angular velocity, respectively; θ e p is the electric angle of the generator; n This represents the number of pole pairs of the generator; The converter model comprises a motor-side converter, a DC bus, and a power grid-side converter; The motor-side converter adopts a direct torque control strategy, and the power grid-side converter adopts a power grid voltage and current double-loop feedback control strategy; The d-axis and q-axis components of the grid-connected current control the active and reactive power of grid connection, and the output active and reactive power and reactive power The expression is as follows: When the grid voltage complex vector is oriented on the d-axis, so that the grid voltage projects to 0 on the q-axis, i.e. u gq = 0, then the converter output power changes as follows: where u gd , u gq are the d-q axis components of the grid voltage; i gd , i gq are the d-q axis components of the grid current; Step S4, constructing a control system, wherein the control system comprises 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, and data interaction between the controller hardware and the virtual simulation system is constructed; Step S6, collecting transmission chain operation data in a simulation process, and evaluating a control strategy and transmission chain performance according to simulation operation data.

2. The controller hardware-in-the-loop wind turbine drivetrain test platform simulation method of claim 1, wherein, In step S4, the subsystem control system comprises a drag motor controller, a non-torque loading controller, a generator controller, a converter controller, and a power grid simulator controller, and control instruction channels and feedback signal channels are established with the transmission chain model.

3. The controller hardware-in-the-loop wind turbine drivetrain test platform simulation method of claim 1, wherein, In step S6, power grid voltage amplitude / frequency deviation, three-phase imbalance, and harmonic grid disturbance working conditions are simulated in the simulation process.

4. The controller hardware-in-the-loop wind turbine drivetrain test stand simulation method of claim 1, wherein, In step S6, a performance evaluation system comprising multiple indexes is constructed to evaluate transmission chain responses in the simulation process, and the performance evaluation system comprises control response time, transmission chain stress amplitude, speed fluctuation rate, electromagnetic torque mean square deviation, and stability margin under power grid disturbance.

5. The controller hardware-in-the-loop wind turbine drivetrain test platform simulation method of claim 4, wherein, Based on the collected simulation operation data, the effectiveness of the control strategy of the transmission chain test platform and the system performance change trend are determined in real time, wherein the determination conditions of the effectiveness of the control strategy comprise that the response time is not more than a set time limit, the transmission chain structure is not overloaded, and the deviation between the main control instruction and the feedback signal is within a set range.

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