Wind power plant controller hardware-in-the-loop simulation method for wind turbine generator test platform

Abstract

The invention belongs to the technical field of power systems, and particularly discloses a wind power plant controller hardware-in-the-loop simulation method for a wind turbine generator test platform, which comprises the following steps: establishing a platform simulation model comprising a wind turbine generator transmission chain test platform model and a wind power plant simulation model, and setting a control strategy; configuring parameters of the platform simulation model; establishing a controller hardware-in-the-loop simulation system; the platform simulation model, the control strategy and the model parameters are loaded into the system, and data interface matching is completed; a simulation test is carried out, and the operation state of the wind turbine generator is acquired and analyzed; and if the control effect does not meet the preset requirement, adjusting the control strategy or the model parameter and repeating the test until the requirement is met. According to the method, dynamic coupling simulation among a wind turbine generator transmission chain, wind power plant operation and power grid working conditions can be achieved, control strategy verification and parameter optimization under multiple working conditions are supported, and the problems that a traditional test platform is limited in test range, insufficient in strategy verification and high in real machine test risk are solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of power systems, and particularly relates to a wind farm controller hardware-in-loop simulation method for a wind turbine test platform. BACKGROUND

[0002] Wind turbines are developing towards large-scale, centralized and high-reliability, and their operating conditions are becoming more complex, and the boundary conditions are gradually expanding, so the safety and stability of the whole machine are facing higher challenges.

[0003] As the core subsystem of a wind turbine, the transmission chain plays a key role in converting mechanical energy into electrical energy. Its failure rate has been the top reason for wind turbine failures for many years, and the maintenance cost is high, so the reliability verification demand is urgent.

[0004] The wind turbine transmission chain test platform is a key test device in the development and certification of wind power equipment, and is mainly used to simulate the motor driving process under wind load to verify the structural strength and dynamic response performance of the transmission chain system.

[0005] However, the traditional test platform often only constructs a single machine model, and cannot reflect the coupling effects of wind farm cluster operation, power grid disturbance and multi-machine grid connection on the transmission chain system of a single unit. In addition, the traditional controller hardware-in-loop (HIL) simulation system lacks real modeling of the overall operation environment of the wind farm and the power grid conditions, and there is a significant deviation between the test process and the real network operation, making it difficult to effectively evaluate the stability and adaptability of the control strategy. SUMMARY

[0006] The present application provides a wind farm controller hardware-in-loop simulation method for a wind turbine test platform to solve the problem that the traditional test platform often only constructs a single machine model and cannot reflect the coupling effects of wind farm cluster operation, power grid disturbance and multi-machine grid connection on the transmission chain system of a single unit.

[0007] The technical solution adopted by the present application is as follows: The present application provides a wind farm controller hardware-in-loop simulation method for a wind turbine test platform, which comprises the following steps: Step S1, a platform simulation model is established according to the structural parameters of an actual wind turbine transmission chain test platform, the platform simulation model comprises a wind turbine transmission chain test platform model and a wind farm simulation model, and a control strategy of the platform simulation model is set; Step S2, based on the structural characteristics and control requirements of the measured wind turbine in the platform simulation model, the model parameters of the platform simulation model are set, the model parameters include physical parameters and control algorithm parameters; Step S3, a controller hardware-in-the-loop simulation system is built, the controller hardware-in-the-loop simulation system comprising a host computer, a real-time simulator and a wind farm controller; Step S4, the platform simulation model, the control strategy and the model parameters are loaded into the controller hardware-in-the-loop simulation system, and data interface matching is completed; Step S5, the controller hardware-in-the-loop simulation test is carried out, and the running state of the controller hardware-in-the-loop simulation system under the conditions of normal power grid, fault and extreme working condition is tested in sequence; Step S6, the simulation results of the running state are obtained and analyzed, and the control effect of the platform simulation model under different working conditions is evaluated according to the running state; Step S7, whether the control effect meets the preset requirement is judged: When the control effect does not meet the preset requirement, the control strategy and / or the model parameters are modified, and the step S4 is jumped to; When the control effect meets the preset requirement, the test is passed.

[0008] Further, in step S1, the wind turbine transmission chain test platform model comprises a wind turbine aerodynamic model, a torque loading device model, a flexible coupling model, a generator model and a power grid simulator model; the wind farm simulation model comprises a plurality of wind turbine models and controller models thereof, and the plurality of wind turbines are connected with the power grid simulator through a common collection bus.

[0009] Further, in the setting of the model parameters of the platform simulation model in step S2, in the wind turbine aerodynamic model, the output power of the wind turbine is:

[0010] wherein, is the air density, is the wind turbine blade rotation radius, is the wind speed, is the wind energy utilization coefficient; The mechanical torque can be expressed as:

[0011] wherein, is the tip speed ratio of the wind turbine, and the expression is , is the mechanical angular velocity of the wind turbine blade; In the torque loading device model, a permanent magnet synchronous drag motor and a variable frequency driving system thereof are established, and the equation of the electromagnetic torque of the permanent magnet synchronous drag motor is:

[0012] is the number of pole pairs of the drag motor, is the flux linkage of the three-phase winding; is the current of the three-phase winding, is the mechanical angular displacement, The mechanical motion equation of the permanent magnet synchronous drag motor is:

[0013] wherein, is the mechanical angular velocity of the drag motor, J is the moment of inertia, B is the damping coefficient, is the load torque.

[0014] Further, the variable frequency drive system is a double closed loop PI controller, the outer loop is a speed loop controller, the parameters are designed by using active damping, and the adjustment parameters are set by the following formula:

[0015] wherein, , are the proportional gain parameters and integral gain parameters of the speed loop respectively, is the permanent magnet flux linkage, is the closed loop bandwidth, is the number of pole pairs of the drag motor; The inner loop is a current loop controller, and the parameters are designed by using the internal model control strategy, and the adjustment parameters satisfy the following relationship:

[0016] wherein, , are the proportional gain parameters and integral gain parameters of the current d-axis component respectively, , are the proportional gain parameters and integral gain parameters of the current q-axis component respectively, is the design parameter, , are the d-q axis inductance components, is the resistance of the drag motor winding.

[0017] Further, in the flexible coupling model, a two-mass block model is used to model the coupling, which can be obtained by the following formula:

[0018] wherein, is the moment of inertia of the wind wheel, is the mechanical angular velocity of the wind wheel, is the Laplace operator, is the mechanical torque acting on the wind wheel, mechanical torque acting on the generator rotor, the rated grid frequency, the total stiffness of the coupling, the moment of inertia of the generator rotor; In the generator model, the mathematical model in the synchronous rotating coordinate system d-q is selected to build, and the generator stator voltage equation can be obtained as:

[0019] wherein, , are the d-q axis components of the stator voltage, , are the d-q axis components of the stator current, is the resistance of the stator, is the electrical angular velocity, , are the d-q axis inductance components, represents the permanent magnet flux linkage; In the grid simulator model, the loop equations of the inverter side current and the filter capacitor voltage are:

[0020] wherein, C is the filter capacitor, and are the d-q axis filter capacitor voltages, and are the inverter side d-q axis output currents, and are the grid simulator d-q axis output currents, and ω is the angular frequency.

[0021] Further, in step S3, the simulation state is monitored in real time in the upper computer, and the running data is visually displayed; The running data includes the measured wind turbine dynamic parameters, the wind farm level electrical quantities, and the grid simulator output characteristics; The data parameters are modified by the upper computer during system operation, and the data parameters include wind condition parameters, drive chain test platform control parameters, wind farm control parameters, grid simulator control parameters, and system operation condition setting parameters; The wind turbine drive chain model and the wind farm model are respectively run in the real-time simulator; The real-time simulator includes a first real-time simulator and a second real-time simulator, the first real-time simulator runs the drive chain test platform model, and the second real-time simulator runs the wind farm model; The first real-time simulator and the second real-time simulator are synchronized and interacted through the optical fiber I / O port; The wind farm controller control algorithm is run in the wind farm controller, which receives real-time operation data from the real-time simulator through the communication interface, calculates the optimal control instructions based on the preset control strategy, and feeds back to the real-time simulator to form a closed-loop control.

[0022] Furthermore, data exchange is performed between the host computer, the real-time simulation machine and the wind farm controller via Ethernet communication.

[0023] Further, in step S5, the fault conditions include frequency variation, low voltage ride-through, and high voltage ride-through; Extreme conditions include converter failure and control system failure.

[0024] Furthermore, in step S6, the simulation results of the operating state include electrical quantities, mechanical quantities and grid quantities of the wind turbine; Among them, electrical quantities include voltage, current, active power and reactive power, mechanical quantities include torque and speed, and power grid quantities include bus voltage and frequency; The evaluation indicators of control effect include steady-state error, overshoot, response time and system stability margin.

[0025] Furthermore, in step S7, the modification of the control strategy includes adjusting the PI controller parameters, changing the priority of the control structure, and switching different wind disturbance models. The modification of the model parameters is to reset the control target value of the wind turbine.

[0026] It can be seen from the above technical solutions that the advantages of the present invention are: By constructing a unified simulation system that integrates wind turbine drive train models, wind farm models, and power grid simulator models, it is possible to effectively simulate the dynamic coupling effects of real-world wind farm cluster operation and grid disturbances on the drive train of a single wind turbine. This overcomes the limitations of traditional single-unit test platforms, which suffer from a single test scenario and incomplete control strategy verification. The described method utilizes a controller hardware-in-the-loop (HIL) architecture to load the platform simulation model, control strategy, and parameters into a high-performance simulation system consisting of a host computer, a real-time simulator, and a wind farm controller. This system supports dynamic simulation testing under normal, faulty, and extreme grid conditions, capturing wind turbine operating status and evaluating the stability, responsiveness, and adaptability of the control strategy. The testing process is real-time, closed-loop, and reentrant. Through built-in result analysis and parameter adjustment mechanisms, if the control effect does not meet requirements, the control strategy or model parameters can be quickly modified and the simulation repeated, establishing an efficient and iterative control strategy optimization process. This method not only improves the authenticity of simulation tests and the accuracy of control strategy verification, but also significantly reduces the physical damage risk and debugging costs in traditional actual machine tests, providing a system-level verification method with high precision, strong safety, and good engineering adaptability for the high-reliability design and operation performance improvement of wind power control systems. BRIEF DESCRIPTION OF DRAWINGS

[0027] 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 description are only some embodiments of the present application, and all other embodiments obtained by those skilled in the art without creative effort based on these drawings also belong to the protection scope of the present application.

[0028] Figure 1 The flow chart of the steps of the wind farm controller hardware-in-the-loop simulation method for the wind turbine test platform in the embodiment; Figure 2 The structure schematic diagram of the drive chain test platform controller hardware-in-the-loop simulation system in the embodiment; Figure 3 The structure schematic diagram of the wind farm controller hardware-in-the-loop simulation system in the embodiment. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with 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 creative effort also belong to the protection scope of the present application.

[0030] Please refer to Figure 1 The present application provides a wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform, which comprises the following steps: Step S1, establishing a platform simulation model according to the structure parameters of an actual wind turbine drive chain test platform, the platform simulation model comprising a wind turbine drive chain test platform model and a wind farm simulation model, and setting the control strategy of the platform simulation model; The wind turbine drive chain test platform model comprises a wind turbine aerodynamic model, a torque loading device model, a flexible coupling model, a generator model and a grid simulator model; the wind farm simulation model comprises a plurality of wind turbine models and their controller models, and the plurality of wind turbines are connected with the grid simulator through a common collection bus; Step S2, setting the model parameters of the platform simulation model based on the structure characteristics and control requirements of the measured wind turbine in the platform simulation model, the model parameters comprising physical parameters and control algorithm parameters; In the setting of the model parameters of the platform simulation model in step S2, in the wind turbine aerodynamic model, The output power of the wind turbine is:

[0031] wherein, is the air density, is the wind turbine blade rotating radius, is the wind speed, is the wind energy utilization coefficient; mechanical torque may be expressed as:

[0032] wherein, is the tip speed ratio of the wind turbine, expressed as , is the mechanical angular velocity of the wind turbine blade; In the torque loading device model, a permanent magnet synchronous drag motor and its variable frequency drive system are established, and the electromagnetic torque equation of the permanent magnet synchronous drag motor is:

[0033] is the number of pole pairs of the drag motor, is the flux linkage of the three-phase winding; is the current of the three-phase winding; The mechanical motion equation of the permanent magnet synchronous drag motor is:

[0034] wherein, is the mechanical angular velocity of the drag motor, J is the moment of inertia, B is the damping coefficient, is the load torque; The variable frequency drive system is a double closed loop PI controller, the outer loop is the speed loop controller, the parameters are designed by using active damping, and the adjustment parameters are set by the following formula:

[0035] wherein, , are the proportional gain parameter and integral gain parameter of the speed loop respectively, is the permanent magnet flux linkage, is the closed loop bandwidth, is the number of pole pairs of the drag motor; The inner loop is the current loop controller, which adopts the internal model control strategy to design the parameters, and the adjustment parameters satisfy the following relationship:

[0036] wherein, , are the proportional gain parameter and integral gain parameter of the d-axis current component respectively, , are respectively proportional gain parameter and integral gain parameter of current q-axis component, is a design parameter, , are respectively d-q axis inductance components, is the resistance of the drag motor winding; In the flexible coupling model, the two-mass model is used to model the coupling, which can be obtained from the following formula:

[0037] wherein, is the rotational inertia of the wind wheel, is the mechanical angular velocity of the wind wheel, is the Laplace operator, is the mechanical torque acting on the wind wheel, is the mechanical torque acting on the generator rotor, is the rated grid frequency, is the total stiffness of the coupling, is the rotational inertia of the generator rotor; In the generator model, the mathematical model in the synchronous rotating coordinate system d-q is selected to build, and the generator stator voltage equation can be obtained as:

[0038] wherein, , are respectively d-q axis components of the stator voltage, , are respectively d-q axis components of the stator current, is the resistance of the stator, is the electrical angular velocity, , are respectively d-q axis inductance components, represents the permanent magnet flux linkage; In the grid simulator model, the loop equation of the inverter side current and the filter capacitor voltage is:

[0039] wherein, C is the filter capacitor, and are d-q axis filter capacitor voltages, and are inverter side d-q axis output currents, and are grid simulator d-q axis output currents, and ω is the angular frequency; Step S3, build a controller hardware-in-the-loop simulation system, the controller hardware-in-the-loop simulation system includes an upper computer, a real-time simulator and a wind farm controller; The host computer monitors the simulation state in real time and visually displays the running data. The running data includes dynamic parameters of the measured wind turbine, electrical quantities of the wind farm level, and output characteristics of the grid simulator. The data parameters are modified by the host computer during the system running process, including wind condition parameters, drive chain test platform control parameters, wind farm control parameters, grid simulator control parameters, and system running condition setting parameters. The wind turbine drive chain model and the wind farm model are respectively run in the real-time simulator. The real-time simulator includes a first real-time simulator and a second real-time simulator, the first real-time simulator runs the drive chain test platform model, and the second real-time simulator runs the wind farm model. The first real-time simulator and the second real-time simulator synchronize and interact data through the optical fiber I / O port. The control algorithm of the wind farm controller is run in the wind farm controller, the real-time running data from the real-time simulator is received through the communication interface, the optimal control instruction is calculated based on the preset control strategy, and the feedback is formed to the real-time simulator to form a closed-loop control. The host computer, the real-time simulator, and the wind farm controller interact data through Ethernet communication. The host computer is the core of human-computer interaction of the system, is used for running the monitoring software of the real-time simulator and the wind farm controller, displays the real-time running state of the real-time simulator and the wind farm controller in real time (including CPU load, communication delay, etc.), and visually presents the system simulation results, including dynamic parameters of the measured wind turbine (torque, speed, output voltage / current, etc.), electrical quantities of the wind farm level (grid-connected point voltage, output power, etc.), and output characteristics of the grid simulator; after the data parameter interface in the real-time simulator or the wind farm controller is configured, the data parameters can be modified at any time by the host computer during the system running process, including wind condition parameters, drive chain test platform control parameters, wind farm control parameters, grid simulator control parameters, and system running condition setting parameters. The real-time simulator is used for running real-time simulation of the transmission chain test platform model and the wind farm model, receiving and executing control signals given by the controller, and outputting simulation results in real time; the system adopts a distributed architecture design and is built by two high-performance real-time simulators: the first real-time simulator runs the transmission chain test platform model, and the second real-time simulator runs the overall wind farm model, and the two are connected through a gigabit optical fiber I / O port to realize data synchronization and interaction; in specific implementation, the transmission chain test platform model receives and executes control instructions issued by the controller in real time, and transmits key parameters such as torque and rotating speed to the upper computer monitoring software through the optical fiber channel; the wind farm model feeds back electrical parameters such as grid voltage and frequency in real time to form a complete electromechanical coupling closed loop; when the system is built, first, the optical fiber jumper is connected to the optical fiber connection module and inserted into the simulation machine special optical line port slot; second, the TX / RX clock interfaces of the two simulators are connected through a special clock line to realize clock synchronization between the simulators, so as to reduce time deviation and realize collaborative work; finally, the IP address matching and optical fiber port parameter setting are completed in the upper computer configuration interface to establish a high-speed data transmission channel; this architecture not only guarantees the simulation accuracy of the dynamic process of the transmission chain and the station-level response of the wind farm, but also realizes multi-time scale coupling simulation through hardware-level synchronization. The wind farm controller is the core processing unit of the control system, which executes multi-dimensional control algorithms including wind turbine aerodynamic control, torque loading device regulation, converter modulation, and grid simulator management in real time; the prototype machine receives real-time operation data from the real-time simulator through a high-speed communication interface, calculates the optimal control instructions based on the established control strategy, and feeds back to the simulator to form a closed-loop control; The wind farm controller is used to run the system controller model, and after receiving the simulation results of the real-time simulator, it calculates the optimal control instructions in the current running state of the system and transmits them to the real-time simulator; the control instructions include wind turbine aerodynamic model control instructions, torque loading device control instructions, wind turbine converter control instructions, and grid simulator control instructions; The upper computer, real-time simulator, and wind farm controller realize data interaction through gigabit industrial Ethernet communication (TCP / IP or UDP / IP protocol); using the standard network protocol under this communication mode can be compatible with mainstream industrial equipment and has strong expandability; it supports 1Gbps high-speed data transmission, meeting the real-time requirements of the system; the transmission reliability of key control instructions is ensured through priority division; Step S4, load the platform simulation model, control strategy, and model parameters into the controller hardware-in-the-loop simulation system to complete data interface matching; Step S5, perform controller hardware-in-the-loop simulation test, and test the running state of the controller hardware-in-the-loop simulation system under normal, fault, and extreme conditions of the grid in sequence; Based on the aforementioned wind farm controller hardware-in-the-loop simulation system applicable to the test platform of the transmission chain of a wind turbine, a wind turbine under test is tested, and simulation results are output. First, the controller hardware-in-the-loop simulation system is started, the system is stably operated under normal grid conditions, and the simulation results are viewed and output in the upper computer. Second, the grid conditions are changed to fault conditions (such as frequency change, low voltage ride through, high voltage ride through, etc.), and after the system is stabilized, the simulation results are viewed and output in the upper computer. Then, the grid conditions are set to extreme conditions (such as converter fault, control system failure, etc.), and after the system is stabilized or shut down, the simulation results are viewed and output in the upper computer. In step S6, the simulation results of the operating state are obtained and analyzed, and the control effect of the operating state evaluation platform simulation model under different conditions is evaluated. The simulation results of the operating state include electrical quantities, mechanical quantities, and grid quantities of the wind turbine. The electrical quantities include voltage, current, active power, and reactive power, the mechanical quantities include torque and speed, and the grid quantities include bus voltage and frequency. The evaluation indexes of the control effect include steady-state error, overshoot, response time, and system stability margin. In step S7, it is determined whether the control effect meets the preset requirements. When the control effect does not meet the preset requirements, the control strategy and / or model parameters are modified, and the process returns to step S4. The modification of the control strategy includes adjusting the PI controller parameters, changing the priority of the control structure, and switching different wind disturbance models. The modification of the model parameters is to reset the control target value of the wind turbine. When the control effect meets the preset requirements, the test is passed.

[0040] In some embodiments, as shown in Figure 2 and Figure 3 The application provides a wind farm controller hardware-in-the-loop simulation system for a wind turbine test platform, which includes: An upper computer for monitoring simulation state, configuring data parameters, and visualizing simulation results. The data parameters include wind condition parameters, control strategy parameters, model parameters, and condition setting parameters. Real-time simulators including a first real-time simulator and a second real-time simulator for running a wind turbine transmission chain test platform model and a wind farm simulation model, respectively. The wind turbine transmission chain test platform model includes a wind turbine aerodynamic model, a torque loading device model, a flexible coupling model, a generator model, a grid simulator model, and a wind farm multi-machine grid connection model. The wind farm controller is configured to run a wind farm controller control algorithm, receive operation data transmitted by the real-time simulator, calculate optimal control instructions based on a control strategy, and feed back to the real-time simulator to form a closed-loop control. The communication interface module includes a fiber I / O interface, an Ethernet communication interface, and a clock synchronization interface, and is configured to realize high-speed data interaction and synchronous operation among the devices. The system supports setting power grid conditions in sequence as normal conditions, fault conditions, and extreme conditions, and completes online testing and adjustment of the control strategy under multiple conditions.

[0041] The wind farm controller is configured with a variable period control scheduling module, which automatically adjusts the refresh frequency and calculation accuracy of the control instructions according to different operating conditions fed back by the real-time simulator. The control instructions include wind turbine aerodynamic control instructions, torque adjustment instructions, converter control instructions, and power grid disturbance response instructions. Each type of instruction is scheduled according to priority.

[0042] In some embodiments, the present application provides a terminal, comprising: A memory is configured to store a wind farm controller hardware-in-the-loop simulation program for a wind turbine test platform. A processor is configured to execute the steps of the wind farm controller hardware-in-the-loop simulation method for the wind turbine test platform when executing the wind farm controller hardware-in-the-loop simulation system for the wind turbine test platform.

[0043] 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 farm controller hardware-in-the-loop simulation method for the wind turbine test platform.

[0044] It can be understood that the systems, devices, modules or units illustrated in 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.

[0045] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memories.

[0046] The memory can include non-persistent memory in a computer readable medium, 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 a computer readable medium.

[0047] 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 the present embodiment, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0048] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to encompass non-exclusive inclusion, such that processes, methods, articles or devices that comprise a list of elements do not only include those elements, but also include other elements not expressly listed, or other elements 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 comprising the element.

[0049] 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".

[0050] The above description is only the preferred embodiment of one or more embodiments of the present specification and does not 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 wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform, characterized in that: The following steps are involved: Step S1: establishing a platform simulation model based on the structural parameters of an actual wind turbine transmission chain test platform, the platform simulation model including a wind turbine transmission chain test platform model and a wind farm simulation model, and setting a control strategy for the platform simulation model; Step S2: setting model parameters of the platform simulation model based on the structural characteristics and control requirements of the wind turbine under test in the platform simulation model, where the model parameters include physical parameters and control algorithm parameters; Step S3: Building a controller hardware-in-the-loop simulation system, which includes a host computer, a real-time simulation machine, and a wind farm controller; Step S4: Load the platform simulation model, control strategy, and model parameters into the controller hardware-in-the-loop simulation system to complete data interface matching; Step S5: Performing a controller hardware-in-the-loop simulation test to sequentially test the operating status of the controller hardware-in-the-loop simulation system under normal, fault, and extreme grid conditions; Step S6: Acquire and analyze the simulation results of the operating state, and evaluate the control effect of the platform simulation model under different working conditions according to the operating state; Step S7: Determine whether the control effect meets the preset requirements: When the control effect does not meet the preset requirements, modify the control strategy and / or model parameters and jump to step S4; When the control effect meets the preset requirements, the test passes.

2. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform according to claim 1, characterized in that: In step S1, the wind turbine transmission chain test platform model includes a wind turbine aerodynamic model, a torque loading device model, a flexible coupling model, a generator model and a power grid simulator model; the wind farm simulation model includes several wind turbine models and their controller models, and the several wind turbines are connected to the power grid simulator through a common bus.

3. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform according to claim 2, characterized in that: In the step S2 of setting the model parameters of the platform simulation model, in the wind turbine aerodynamic model, the output power of the wind turbine is for: in, is the air density, is the rotation radius of the wind turbine blade, is the wind speed, is the wind energy utilization coefficient; Mechanical torque It can be expressed as: in, is the tip speed ratio of the wind turbine, which is expressed as , is the mechanical angular velocity of the wind turbine blade; In the torque loading device model, a permanent magnet synchronous drag motor and its variable frequency drive system are established. The electromagnetic torque of the permanent magnet synchronous drag motor The equation is: is the number of pole pairs of the traction motor, is the flux linkage of the three-phase winding; is the current of the three-phase winding, is the mechanical angular displacement; The mechanical motion equation of the permanent magnet synchronous drive motor is: in, is the mechanical angular velocity of the drag motor, J is the moment of inertia, B is the damping coefficient, is the load torque.

4. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform according to claim 3 is characterized in that: The variable frequency drive system is a double closed-loop PI controller, the outer loop of which is the speed loop controller. The parameters are designed using active damping, and the adjustment parameters are set by the following formula: in, 、 They are the proportional gain parameter and integral gain parameter of the speed converter respectively. is the permanent magnet flux, is the closed-loop bandwidth, is the number of pole pairs of the traction motor; The inner loop is a current loop controller, which uses an internal model control strategy for parameter design. The adjustment parameters satisfy the following relationship: in, 、 are the proportional gain parameter and integral gain parameter of the current d-axis component respectively, 、 are the proportional gain parameter and integral gain parameter of the current q-axis component respectively, is the design parameter, 、 are the dq axis inductance components respectively, is the resistance of the motor winding.

5. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform according to claim 2, characterized in that: In the flexible coupling model, a two-mass block model is used to model the coupling, which can be obtained by the following formula: in, is the moment of inertia of the wind wheel, is the mechanical angular velocity of the wind wheel, is the Laplace operator, is the mechanical torque acting on the wind wheel, is the mechanical torque acting on the generator rotor, is the rated grid frequency, is the total stiffness of the coupling, is the moment of inertia of the generator rotor; In the generator model, the mathematical model under the synchronous rotating coordinate system dq is selected for construction, and the generator stator voltage equation can be obtained as follows: in, 、 are the dq axis components of the stator voltage, 、 are the dq axis components of the stator current, is the stator resistance, is the electrical angular velocity, 、 They are the dq axis inductance components, represents the permanent magnet flux; In the grid simulator model, the loop equations for the inverter side current and filter capacitor voltage are: Where C is the filter capacitor, and is the dq axis filter capacitor voltage, and is the inverter side dq axis output current, and is the dq axis output current of the power grid simulator, and ω is the angular frequency.

6. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform according to claim 1, characterized in that: In step S3, the simulation status is monitored in real time on the host computer and the operation data is displayed visually; Operational data includes the dynamic parameters of the wind turbines under test, wind farm-level electrical quantities, and grid simulator output characteristics; The data parameters are modified by the host computer during the system operation. The data parameters include wind condition parameters, transmission chain test platform control parameters, wind farm control parameters, power grid simulator control parameters, and system operation condition setting parameters; Run the wind turbine transmission chain model and wind farm model separately in the real-time simulator; The real-time simulator includes a first real-time simulator and a second real-time simulator, the first real-time simulator runs a transmission chain test platform model, and the second real-time simulator runs a wind farm model; The first real-time simulation machine and the second real-time simulation machine perform data synchronization and interaction via the optical fiber I / O port; The wind farm controller control algorithm is run in the wind farm controller, which receives real-time operation data from the real-time simulator through the communication interface, calculates the optimal control instructions based on the preset control strategy, and feeds back to the real-time simulator to form a closed-loop control.

7. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform according to claim 6, characterized in that: Data exchange is carried out between the host computer, real-time simulation machine and wind farm controller through Ethernet communication.

8. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform according to claim 1, characterized in that: In step S5, the fault conditions include frequency variation, low voltage ride-through, and high voltage ride-through; Extreme conditions include converter failure and control system failure.

9. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform according to claim 1, characterized in that: In step S6, the simulation results of the operating state include electrical quantities, mechanical quantities and grid quantities of the wind turbine; Among them, electrical quantities include voltage, current, active power and reactive power, mechanical quantities include torque and speed, and power grid quantities include bus voltage and frequency; The evaluation indicators of control effect include steady-state error, overshoot, response time and system stability margin.

10. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform according to claim 1, characterized in that: In step S7, the modification of the control strategy includes adjusting the PI controller parameters, changing the priority of the control structure, and switching different wind disturbance models. The modification of the model parameters is to reset the control target value of the wind turbine.

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