Wind farm controller hardware-in-the-loop simulation method for wind turbine test platform

Abstract

The application belongs to the technical field of power systems, and specifically discloses a wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform, which comprises the following steps: establishing a platform simulation model comprising a wind turbine transmission chain test platform model and a wind farm simulation model and setting a control strategy; configuring parameters of the platform simulation model; building a controller hardware-in-the-loop simulation system; loading the platform simulation model, the control strategy and model parameters into the system to complete data interface matching; carrying out simulation testing, obtaining and analyzing the operating state of the wind turbine; if the control effect does not meet the preset requirements, adjusting the control strategy or the model parameters and repeating the testing until the requirements are met. The method can realize dynamic coupling simulation between the wind turbine transmission chain, the wind farm operation and the power grid working condition, support control strategy verification and parameter optimization under multiple working conditions, and solve the problems of limited test range of the traditional test platform, insufficient strategy verification and high risk of real machine testing.

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, centralization and high reliability, and their operating conditions are becoming more and more complex, and the boundary conditions are gradually expanding, so the safety and stability of the whole machine are facing higher challenges.

[0003] As a core subsystem of a wind turbine, a transmission chain plays a key role in converting mechanical energy into electrical energy, and its failure rate is always the first among the reasons for wind turbine failures throughout the year, and the reliability verification demand is urgent.

[0004] A 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 the action of 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 influence 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 influence 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:

[0008] The present application provides a wind farm controller hardware-in-loop simulation method for a wind turbine test platform, which comprises the following steps:

[0009] 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;

[0010] 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 comprise physical parameters and control algorithm parameters;

[0011] 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;

[0012] 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;

[0013] Step S5, the controller hardware-in-the-loop simulation test is performed, and the running state of the controller hardware-in-the-loop simulation system under normal, fault and extreme conditions of the power grid is tested in sequence;

[0014] Step S6, the simulation results of the running state are obtained and analyzed, and the control effect of the platform simulation model under different conditions is evaluated according to the running state;

[0015] Step S7, whether the control effect meets the preset requirement is judged:

[0016] 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;

[0017] When the control effect meets the preset requirement, the test is passed.

[0018] 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.

[0019] 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:

[0020]

[0021] wherein, is the air density, is the wind turbine blade rotation radius, is the wind speed, is the wind energy utilization coefficient;

[0022] The mechanical torque can be expressed as:

[0023]

[0024] wherein, is the tip speed ratio of the wind turbine, and the expression is , mechanical angular velocity of the wind turbine blade;

[0025] In the model of the torque loading device, a permanent magnet synchronous drag motor and its variable frequency drive system are established. The electromagnetic torque equation of the permanent magnet synchronous drag motor is

[0026]

[0027] wherein, p is the pole pair number 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;

[0028] The mechanical motion equation of the permanent magnet synchronous drag motor is

[0029]

[0030] wherein, is the mechanical angular velocity of the drag motor, J is the rotational inertia, B is the damping coefficient, is the load torque.

[0031] 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:

[0032]

[0033] wherein, , are the proportional gain parameter and the integral gain parameter of the speed loop respectively, is the permanent magnet flux linkage, is the closed loop bandwidth, is the pole pair number of the drag motor;

[0034] The inner loop is a current loop controller, the parameters are designed by using inner model control strategy, and the adjustment parameters satisfy the following relationship:

[0035]

[0036] wherein, , are the proportional gain parameter and the integral gain parameter of the d-axis current component respectively, , are the proportional gain parameter and the integral gain parameter of the q-axis current component respectively, is the design parameter, , are the d-q axis inductance components, is the resistance of the drag motor winding.​

[0037] Further, in the flexible coupling model, the coupling is modeled by a two-mass model, which can be obtained from the following formula:

[0038]

[0039] 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;

[0040] In the generator model, the mathematical model in the synchronous rotating coordinate system d-q is selected to build, and the stator voltage equation of the generator can be obtained as:

[0041]

[0042] 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;

[0043] In the grid simulator model, the loop equation of the inverter side current and the filter capacitor voltage is:

[0044]

[0045] 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.

[0046] Further, in step S3, the simulation state is monitored in real time in the upper computer and the running data is visually displayed;

[0047] The operation data include dynamic parameters of the tested wind turbine, electrical quantities of the wind farm level and output characteristics of the power grid simulator;

[0048] The data parameters are modified by the host computer during system operation, including wind condition parameters, drive chain test platform control parameters, wind farm control parameters, power grid simulator control parameters and system operation condition setting parameters.

[0049] The wind turbine drive chain model and the wind farm model are respectively run in the real-time simulator.

[0050] 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.

[0051] The first real-time simulator and the second real-time simulator are synchronized and interacted through the optical fiber I / O port.

[0052] The wind farm controller control algorithm is run in the wind farm controller, real-time operation data from the real-time simulator are received through the communication interface, optimal control instructions are calculated based on the preset control strategy, and the optimal control instructions are fed back to the real-time simulator to form a closed-loop control.

[0053] Further, the host computer, the real-time simulator and the wind farm controller are communicated through the Ethernet to interact data.

[0054] Further, in step S5, the fault conditions include frequency variation, low voltage ride through and high voltage ride through.

[0055] The extreme conditions include converter fault and control system failure.

[0056] Further, in step S6, the simulation results of the operation state include electrical quantities, mechanical quantities and power grid quantities of the wind turbine.

[0057] The electrical quantities include voltage, current, active power and reactive power, the mechanical quantities include torque and rotating speed, and the power grid quantities include bus voltage and frequency.

[0058] The evaluation indexes of the control effect include steady-state error, overshoot, response time and system stability margin.

[0059] Further, in step S7, the modification of the control strategy includes adjusting PI controller parameters, changing the priority of the control structure, switching different wind condition disturbance models, and the modification of the model parameters is resetting the control target value of the wind turbine.

[0060] It can be seen from the above technical scheme that the present application has the following advantages:

[0061] By constructing a unified simulation system of the fusion wind turbine transmission chain model, the wind farm model and the grid simulator model, the dynamic coupling influence of real wind farm cluster operation and grid disturbance on single wind turbine transmission chain can be effectively simulated, and the limitations of single test scene and incomplete control strategy verification of traditional single machine test platform are overcome. The method adopts a controller hardware-in-the-loop (HIL) architecture, loads the platform simulation model, control strategy and parameters into a high-performance simulation system composed of an upper computer, a real-time simulator and a wind farm controller, supports dynamic simulation testing under normal, fault and extreme conditions of the power grid, obtains the operation state of the wind turbine and evaluates the stability, responsiveness and adaptability of the control strategy, and the testing process has real-time, closed-loop and reentrant properties. Through the embedded result analysis and parameter adjustment mechanism, when the control effect does not meet the requirements, the control strategy or model parameters can be quickly modified and simulation is performed again, thereby constructing an efficient and iterative control strategy optimization process. The method not only improves the authenticity of simulation testing and the accuracy of control strategy verification, but also significantly reduces the physical damage risk and debugging cost in traditional real machine testing, and provides a system-level verification method with high precision, strong safety and good engineering adaptability for high-reliability design and operation performance improvement of wind power control systems. BRIEF DESCRIPTION OF DRAWINGS

[0062] 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 all other drawings obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0063] Figure 1 The step flow chart of the wind farm controller hardware-in-the-loop simulation method for the wind turbine test platform in the embodiment;

[0064] Figure 2 The structure schematic diagram of the transmission chain test platform controller hardware-in-the-loop simulation system in the embodiment;

[0065] Figure 3 The structure schematic diagram of the wind farm controller hardware-in-the-loop simulation system in the embodiment. DETAILED DESCRIPTION

[0066] 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, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0067] Please refer to Figure 1As shown, the application provides a wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform, comprising the following steps:

[0068] Step S1, according to the structural parameters of the actual wind turbine drive chain test platform, a platform simulation model is established, the platform simulation model includes a wind turbine drive chain test platform model and a wind farm simulation model, and the control strategy of the platform simulation model is set;

[0069] The wind turbine drive chain test platform model includes 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 includes a plurality of wind turbine models and their controller models, and the plurality of wind turbines are connected to the grid simulator through a common collection bus;

[0070] 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, including physical parameters and control algorithm parameters;

[0071] In the setting of the model parameters of the platform simulation model in step S2, in the wind turbine aerodynamic model,

[0072] The output power of the wind turbine is:

[0073]

[0074] Wherein, is the air density, is the wind turbine blade rotation radius, is the wind speed, is the wind energy utilization coefficient;

[0075] The mechanical torque can be expressed as:

[0076]

[0077] Wherein, is the tip speed ratio of the wind turbine, expressed as , is the mechanical angular velocity of the wind turbine blade;

[0078] In the torque loading device model, a permanent magnet synchronous drag motor and its variable frequency drive system are established, and the equation of the electromagnetic torque of the permanent magnet synchronous drag motor is:

[0079]

[0080] is the number of pole pairs of the drag motor, The flux linkage of the three-phase winding; The current of the three-phase winding;

[0081] The mechanical motion equation of the permanent magnet synchronous drag motor is:

[0082]

[0083] wherein, is the mechanical angular velocity of the drag motor, J is the rotational inertia, B is the damping coefficient, is the load torque;

[0084] The variable frequency drive system is a double closed loop PI controller, the outer ring is a speed loop controller, the parameter is designed by using active damping, and the adjustment parameter is set by the following formula:

[0085]

[0086] 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 pole pair number of the drag motor;

[0087] The inner ring is a current loop controller, the parameter is designed by using inner model control strategy, and the adjustment parameter satisfies the following relationship:

[0088]

[0089] wherein, , 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 d-q axis inductance components, is the resistance of the drag motor winding;

[0090] In the flexible coupling model, the two-mass model is used to model the coupling, which can be obtained by the following formula:

[0091]

[0092] 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, mechanical torque acting on the generator rotor, nominal grid frequency, total stiffness of the coupling, moment of inertia of the generator rotor;

[0093] In the generator model, the mathematical model in the synchronous rotating coordinate system d-q is selected to build, and the stator voltage equation of the generator can be obtained as:

[0094]

[0095] 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;

[0096] In the grid simulator model, the loop equations of the inverter side current and the filter capacitor voltage are:

[0097]

[0098] wherein, C is the filter capacitor, and are the d-q axis filter capacitor voltages, and are the d-q axis output currents of the inverter side, and are the d-q axis output currents of the grid simulator, and ω is the angular frequency;

[0099] Step S3, a controller hardware-in-the-loop simulation system is built, and the controller hardware-in-the-loop simulation system comprises an upper computer, a real-time simulator and a wind farm controller;

[0100] The simulation state is monitored in real time in the upper computer, and the running data is visually displayed;

[0101] The running data comprises the dynamic parameters of the measured wind turbine, the electrical quantities of the wind farm level and the output characteristics of the grid simulator;

[0102] The data parameters are modified in the system running process through the upper computer, and the data parameters comprise the wind condition parameters, the transmission chain test platform control parameters, the wind farm control parameters, the grid simulator control parameters and the system running working condition setting parameters;

[0103] The wind turbine transmission chain model and the wind farm model are respectively run in the real-time simulator;

[0104] The real-time simulator includes a first real-time simulator and a second real-time simulator, the first real-time simulator runs the transmission chain test platform model, and the second real-time simulator runs the wind farm model;

[0105] The first real-time simulator and the second real-time simulator are connected through optical fiber I / O ports for data synchronization and interaction;

[0106] The control algorithm of the wind farm controller is run in the wind farm controller, real-time operation data from the real-time simulator is received through a communication interface, optimal control instructions are calculated based on a preset control strategy, and the optimal control instructions are fed back to the real-time simulator to form a closed-loop control;

[0107] The upper computer, the real-time simulator and the wind farm controller are connected through Ethernet communication for data interaction;

[0108] The upper computer is the core of human-computer interaction of the system, is used for running monitoring software of the real-time simulator and the wind farm controller, displays real-time operation states (including CPU load, communication delay, etc.) of the real-time simulator and the wind farm controller in real time, and presents system simulation results visually, including dynamic parameters (torque, rotating speed, output voltage / current, etc.) of the measured wind turbine, electrical quantities (grid-connected point voltage, output power, etc.) of the wind farm and output characteristics of the power grid simulator; after data parameter interfaces in the real-time simulator or the wind farm controller are configured, data parameters can be modified at any time during system operation through the upper computer, including wind condition parameters, transmission chain test platform control parameters, wind farm control parameters, power grid simulator control parameters, system operation working condition setting parameters, etc.

[0109] 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.

[0110] 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 optimal control instructions based on the established control strategy, and feeds back to the simulator to form a closed-loop control;

[0111] 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 in real time 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;

[0112] The upper computer, the real-time simulator and the 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, the system is compatible with mainstream industrial equipment and has strong expandability; it supports 1Gbps high-speed data transmission, meets the real-time requirements of the system, and ensures the transmission reliability of key control instructions through priority division;

[0113] 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;

[0114] Step S5, a controller hardware-in-the-loop simulation test is performed to test the running state of the controller hardware-in-the-loop simulation system under normal, fault and extreme conditions of the power grid in sequence;

[0115] Based on the aforementioned wind farm controller hardware-in-the-loop simulation system suitable for the test platform of the transmission chain of a wind turbine, a wind turbine to be tested is tested, and simulation results are output. First, the controller hardware-in-the-loop simulation system is started, and the system is stably operated under normal power grid conditions. The simulation results are viewed and output in the upper computer. Second, the power grid conditions are changed to fault conditions (such as frequency change, low voltage ride through, high voltage ride through, etc.). After the system is stabilized, the simulation results are viewed and output in the upper computer. Then, the power grid conditions are set to extreme conditions (such as converter fault, control system failure, etc.). After the system is stabilized or shut down, the simulation results are viewed and output in the upper computer.

[0116] Step S6, the simulation results of the running state are obtained and analyzed, and the control effect of the simulation model of the running state evaluation platform under different conditions is evaluated;

[0117] The simulation results of the running state include electrical quantities, mechanical quantities and power grid quantities of the wind turbine;

[0118] The electrical quantities include voltage, current, active power and reactive power, the mechanical quantities include torque and speed, and the power grid quantities include bus voltage and frequency.

[0119] The evaluation indexes of the control effect include steady-state error, overshoot, response time and system stability margin.

[0120] Step S7, whether the control effect meets the preset requirements is judged:

[0121] When the control effect does not meet the preset requirements, the control strategy and / or the model parameters are modified, and the step S4 is jumped to.

[0122] 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.

[0123] When the control effect meets the preset requirements, the test is passed.

[0124] In some embodiments, as shown in Figure 2 and Figure 3 The present application provides a wind farm controller hardware-in-the-loop simulation system for a wind turbine test platform, which comprises:

[0125] An upper computer is used to monitor the simulation state, configure data parameters, and visually display the simulation results. The data parameters include wind condition parameters, control strategy parameters, model parameters, and condition setting parameters.

[0126] The real-time simulator includes a first real-time simulator and a second real-time simulator, and is used 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 including 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;

[0127] The wind farm controller is used for running a wind farm controller control algorithm, receiving operation data transmitted by the real-time simulator, calculating optimal control instructions based on a control strategy, and feeding back to the real-time simulator to form a closed-loop control;

[0128] The communication interface module includes a fiber I / O interface, an Ethernet communication interface and a clock synchronization interface, and is used for realizing high-speed data interaction and synchronous operation among the above-mentioned devices;

[0129] The system supports setting grid operating conditions in turn as normal operating conditions, fault operating conditions and extreme operating conditions, and completes online testing and adjustment of the control strategy under multiple operating conditions.

[0130] 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 including wind turbine aerodynamic control instructions, torque regulation instructions, converter control instructions and grid disturbance response instructions, and each type of instruction is scheduled according to priority.

[0131] In some embodiments, the present application provides a terminal, comprising:

[0132] A memory is configured to store a wind farm controller hardware-in-the-loop simulation program for a wind turbine test platform;

[0133] A processor is configured to execute the wind farm controller hardware-in-the-loop simulation program for the wind turbine test platform to implement the steps of the wind farm controller hardware-in-the-loop simulation method for the wind turbine test platform.

[0134] In some embodiments, the present application provides a computer readable storage medium, which stores computer instructions, and 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.

[0135] It can be understood that the system, device, module or unit illustrated in the above embodiments can be specifically implemented by a computer chip or entity, or by a product 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.

[0136] In a typical configuration, a computer includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0137] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, non-volatile memory, such as read-only memory (ROM), EPROM, and / or flash memory, etc. in a computer readable media. The memory is an example of computer readable media.

[0138] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as 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 cassette, magnetic disk storage, quantum memory, graphene-based storage media, or other magnetic storage devices, 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.

[0139] It should also be noted that the terms "comprising," "including," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0140] It should be understood that although one or more embodiments of the 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 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 determining" or "in response to determining".

[0141] The above description is merely that of a plurality of preferred embodiments of the present disclosure, and is not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall fall within the scope of protection of the present disclosure.

Claims

1. A wind farm controller hardware-in-the-loop simulation method for a wind turbine test stand, characterized in that, Comprise the following steps: Step S1, according to the structure parameters of the actual wind turbine transmission chain test platform, a platform simulation model is established, the platform simulation model includes a wind turbine transmission chain test platform model and a wind farm simulation model, and the control strategy of the platform simulation model is set; Step S2, based on the structure 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, which includes a host computer, a real-time simulator and a wind farm controller; The simulation state is monitored in real time in the host computer and the operation data is visualized and displayed; The operation data includes dynamic parameters of the measured wind turbine, wind farm level electrical quantities and grid simulator output characteristics; The data parameters are modified in the system operation process through the host computer, including wind condition parameters, transmission chain test platform control parameters, wind farm control parameters, grid simulator control parameters and system operation condition setting parameters; 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 the data interface matching is completed; The wind turbine transmission chain model and the wind farm model are run in the real-time simulator respectively; The real-time simulator includes a first real-time simulator and a second real-time simulator, the first real-time simulator runs the transmission 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 through the optical fiber I / O port; The wind farm controller control algorithm is run in the wind farm controller, the real-time operation 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 closed loop control is formed by feeding back to the real-time simulator; 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 normal, fault and extreme conditions of the power grid is tested in turn; Step S6, the simulation results of the running state are obtained and analyzed, and the control effect of the platform simulation model under different conditions is evaluated according to the running state; Step S7, whether the control effect meets the preset requirements is judged: When the control effect does not meet the preset requirements, the control strategy and / or the model parameters are modified, and the step S4 is jumped to; When the control effect meets the preset requirements, the test is passed.

2. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform of claim 1, wherein, 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 grid simulator model; the wind farm simulation model includes 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.

3. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform of claim 2, wherein, In setting the model parameters of the platform simulation model in step S2, in the aerodynamic model of the wind turbine, the output power of the wind turbine is: Pout=0.5ρAω3Cp(θv,β) wherein is the air density, is the wind turbine blade radius of rotation, is the wind speed, is the wind energy utilization coefficient; Mechanical torque may be expressed as: wherein is the tip speed ratio of the wind turbine, expressed as , is the mechanical angular speed of the wind turbine blade; In the torque loading device model, the 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: ​ for the number of pole pairs of the drag motor, for the flux linkage of the three-phase winding; for the current of the three-phase winding, for the mechanical angular displacement; The mechanical motion equation of the permanent magnet synchronous drag motor is: 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.

4. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform of claim 3, wherein, The variable frequency drive system is a double closed loop PI controller, the outer ring is a speed loop controller, the parameter is designed by using active damping, and the adjustment parameter is adjusted by the following formula: wherein, , are respectively proportional gain parameter and integral gain parameter converted from rotating speed, is permanent magnet flux linkage, is closed loop bandwidth, is pole pair number of the drag motor; The inner ring is a current loop controller, the parameter is designed by using internal model control strategy, and the adjustment parameter satisfies the following relationship: wherein , are respectively a proportional gain parameter and an integral gain parameter of the current d-axis component, , are respectively a proportional gain parameter and an integral gain parameter of the current q-axis component, is a design parameter, , are respectively d-q axis inductance components, is the resistance of the drag motor winding.

5. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform of claim 2, wherein, In the flexible coupling model, the two-mass model is used to model the coupling, which can be obtained from the following formula: 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, 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 in the synchronous rotating coordinate system d-q is selected to build, and the stator voltage equation of the generator can be obtained as: wherein , are the d-q axis components of the stator voltage, respectively, , are the d-q axis components of the stator current, respectively, is the resistance of the stator, is the electrical angular velocity, , are the d-q axis inductance components, respectively, 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: where C is a filter capacitance, and is a d-q axis filter capacitance voltage, and is an inverter-side d-q axis output current, and is a grid simulator d-q axis output current, and ω is an angular frequency.

6. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform of claim 1, wherein, The host computer, real-time simulator and wind farm controller communicate through Ethernet for data interaction.

7. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform of claim 1, wherein, In step S5, the fault conditions include frequency variation, low voltage ride through and high voltage ride through; The extreme conditions include converter failure and control system failure.

8. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform of claim 1, wherein, In step S6, the simulation results of the operating state include the electrical quantities, mechanical quantities and grid quantities of the wind turbine generator; 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.

9. The wind farm controller hardware-in-the-loop simulation method for a wind turbine test platform of claim 1, wherein, In step S7, the modification of the control strategy includes adjusting the PI controller parameters, changing the priority of the control structure, switching different wind disturbance models, and modifying the model parameters by resetting the control target value of the wind turbine generator.

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