Torque sine and square wave dynamic response test method, system and device and storage medium
By constructing a composite torque command sequence and introducing a phase difference correction coefficient, a coupled model of torque response time and frequency domain overshoot is established, which solves the limitations of torque response testing in existing technologies and realizes high-precision and high-stability testing under multiple operating conditions.
Patent Information
- Application Number
- CN202511722262.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-21
- Publication Date
- 2026-02-13
AI Technical Summary
Existing torque response testing methods suffer from problems such as narrow coverage of a single operating condition, low accuracy of time stamp matrix division, and coarse handling of phase deviation and frequency domain overshoot. These issues result in an inability to accurately reflect the dynamic response of the converter under different loads and complex operating conditions, leading to low accuracy and reliability of the test results.
A dynamic response test method using sinusoidal and square waves of torque is adopted. By constructing a composite torque command sequence, introducing a phase difference correction coefficient and a dual-domain response relationship, a coupling model of torque response time and frequency domain overshoot is established to achieve refined time stamp matrix division and dynamic synchronization correction.
It improves the accuracy and reliability of torque response testing, accurately reflects the dynamic response of the converter under multiple operating conditions, and enhances the stability and precision of the test.
Smart Images
Figure CN121522454A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of wind turbine and converter control technology, specifically to a torque sinusoidal and square wave dynamic response testing method, system, equipment, and storage medium. Background Technology
[0002] With the advancement of power electronics technology, converter control strategies have gradually evolved, transitioning from traditional steady-state control to dynamic response control. Particularly in wind power systems, the torque control performance of the converter directly impacts the power output of the wind turbine and the power quality of the grid. To better evaluate the performance of converters under different operating conditions, dynamic response testing technology has emerged. Existing testing methods typically rely on sine waves and square waves as excitation signals to evaluate the torque response characteristics of the converter under each operating condition. By simulating actual load changes, torque response testing can reflect the stability, regulation capability, and adaptability of the converter.
[0003] Despite the existence of various testing methods, many problems still need to be solved in practical applications. Existing methods often focus on testing under a single rated operating condition, failing to comprehensively cover torque response under different loads and operating conditions, resulting in limitations in test results. The division method of the time stamp matrix is relatively simple, usually based on a fixed threshold, which may lead to insufficient accuracy in response time calculation when facing complex load changes. Existing technologies handle factors such as phase deviation and frequency domain overshoot in the torque response process in a rather coarse manner, failing to fully explore the time and frequency domain characteristics, resulting in distortion of response results in some cases, affecting the accuracy and reliability of test data.
[0004] While current technologies have driven the development of torque response testing methods to some extent, they still lack effective solutions for handling complex dynamic responses. For testing needs involving variable loads and complex frequency characteristics, existing technologies have not yet provided sufficiently accurate measurement methods and calculation models, especially in areas such as accurately capturing response time, torque waveform characteristics, and frequency domain analysis, where there is room for further optimization. Summary of the Invention
[0005] In view of the above-mentioned problems, the present invention is proposed.
[0006] Therefore, the technical problem solved by this invention is that existing torque response testing methods have problems such as narrow coverage of a single operating condition, low accuracy of time stamp matrix division, and coarse processing of phase deviation and frequency domain overshoot, which result in the inability to accurately reflect the dynamic response of the converter under different loads and complex operating conditions, and low accuracy and reliability of test results. The invention also addresses the problem of insufficient frequency domain overshoot analysis.
[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a torque sinusoidal and square wave dynamic response testing method, comprising: constructing a unified composite torque command sequence based on the closed-loop operation of the generator and converter under rated voltage and pure active power operation conditions; applying sinusoidal and square wave torque command signals to the generator through the converter based on the composite torque command sequence, and dividing the time identifier matrix according to the torque change rate threshold; and introducing a phase difference correction coefficient based on the synchronous torque waveform and the time identifier matrix to establish a dual-domain response relationship coupling torque response time and frequency domain overshoot.
[0008] As a preferred embodiment of the torque sinusoidal and square wave dynamic response testing method described in this invention, the composite torque command sequence includes: setting torque waveform parameters under different torque settings based on two rated torque conditions of 30% and 70%; outputting sinusoidal torque command signals and square wave torque command signals corresponding to the torque setting ratios respectively through the converter; the sinusoidal torque command signal includes a torque waveform period of 1s; the square wave torque command signal includes a torque waveform period of 0.5s; by adjusting the torque waveform parameters of each signal, the torque change rate and speed during the torque response process are coupled and correlated; the torque waveform parameters include the torque waveform amplitude and the torque waveform period.
[0009] As a preferred embodiment of the torque sinusoidal and square wave dynamic response testing method of the present invention, the time identification matrix includes: dividing the synchronously acquired target torque and actual torque waveforms into an initial region, a linear region and a steady-state region according to the torque change rate threshold; distinguishing the response time of different stages in the torque response process through a dynamic algorithm; obtaining the torque change rate and response delay time in each interval; and controlling the conversion time point of the torque given signal.
[0010] As a preferred embodiment of the torque sinusoidal and square wave dynamic response testing method of the present invention, the phase difference correction coefficient includes: adjusting the phase deviation by real-time measurement of the phase deviation between the synchronously acquired target torque and the actual torque waveform; introducing an adaptive correction coefficient based on a time window; introducing a dynamic synchronization correction mechanism; and dynamically obtaining the time matching degree between different waveforms.
[0011] As a preferred embodiment of the torque sinusoidal and square wave dynamic response testing method of the present invention, the torque response time includes, under each torque setting condition, measuring the time interval required for the torque response to reach 90% of the target torque by comparing the target torque given signal with the actual torque response waveform.
[0012] As a preferred embodiment of the torque sinusoidal and square wave dynamic response testing method of the present invention, the frequency domain overshoot includes: defining the overshoot as the percentage deviation of the maximum response peak relative to the set target torque by means of the amplitude deviation of the peak torque waveform during the response process; using a dynamic algorithm to correct the overshoot in real time; and automatically adjusting the overshoot response under different loads based on a load adaptive adjustment mechanism.
[0013] As a preferred embodiment of the torque sinusoidal and square wave dynamic response testing method of the present invention, the dual-domain response relationship includes: establishing a time-frequency domain coupled model of torque response based on torque response time and frequency domain overshoot, and automatically optimizing the time and frequency domain parameters in the torque response process according to different torque setting conditions.
[0014] Another objective of this invention is to provide a torque sinusoidal and square wave dynamic response testing system, which solves the problems of narrow operating condition coverage, inaccurate time marking, insufficient phase deviation correction, and imperfect frequency domain overshoot handling in current torque response testing technologies by introducing a composite torque command sequence, refined time stamp matrix division, and dual-domain response optimization.
[0015] The present invention discloses a torque sinusoidal and square wave dynamic response testing system, comprising a composite torque command generation module, a torque waveform output module, and a response optimization and correction module. The composite torque command generation module generates a composite torque command sequence based on the closed-loop operation of the generator and converter under rated voltage and pure active power operating conditions. It sets the amplitude and period of the torque waveform according to two rated torque conditions (30% and 70%), generating sinusoidal and square wave torque command signals, which are then output through the converter. The torque waveform output module applies sinusoidal and square wave torque command signals to the generator through the converter based on the composite torque command sequence, and divides the synchronously acquired target torque and actual torque waveforms into initial, linear, and steady-state regions according to a torque change rate threshold. The response optimization and correction module introduces a phase difference correction coefficient based on the synchronous torque waveform and time signature matrix to correct the phase deviation between the synchronously acquired target torque and actual torque waveforms, establishing a dual-domain response relationship coupling torque response time and frequency domain overshoot.
[0016] The beneficial effects of this invention are as follows: The torque sinusoidal and square wave dynamic response testing method provided by this invention achieves standardized torque signal input, accurate torque response time calculation, and optimized frequency domain analysis through three steps: generating composite torque command sequence, dividing time identifier matrix, and phase correction and dual-domain response optimization. This results in better performance in multi-condition testing, torque response accuracy, and synchronous sampling accuracy, significantly improving the accuracy, stability, and reliability of the test. Attached Figure Description
[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 The above is an overall flowchart of a torque sinusoidal and square wave dynamic response testing method provided in Embodiment 1 of the present invention.
[0019] Figure 2 The torque sinusoidal dynamic response diagram is provided for a torque sinusoidal and square wave dynamic response test method according to Embodiment 2 of the present invention. Detailed Implementation
[0020] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.
[0021] Example 1, referring to Figure 1 As an embodiment of the present invention, a method for testing the dynamic response of torque sinusoidal and square waves is provided, comprising: S1: Under rated voltage and pure active power operation conditions, a unified composite torque command sequence 100 is constructed based on the closed-loop operation of the generator and converter.
[0022] It should be noted that, firstly, based on the two rated torque Tn operating conditions of 30% and 70%, the corresponding torque waveform amplitude and period are set to generate sine wave and square wave torque command signals. The period of the sine wave torque command signal 101 is set to 1 second, and the period of the square wave torque command signal 102 is set to 0.5 seconds. By adjusting the torque waveform parameters of each signal, the amplitude and period of the torque waveform are matched with the set torque operating conditions.
[0023] By adjusting the torque waveform parameters of each signal, the torque change rate and speed during the torque response process are coupled and correlated; the torque waveform parameters include the torque waveform amplitude and the torque waveform period.
[0024] It should also be noted that the introduction of the composite torque command sequence 100, through the adjustment and coupling of multiple torque waveforms, not only solves the limitations of single-condition testing in traditional methods, but also more comprehensively simulates the torque response of the converter under different load and load change conditions, thereby improving the accuracy and reliability of torque response testing.
[0025] S2: Based on the composite torque command sequence 100, sinusoidal and square wave torque command signals are applied to the generator through the converter, and the time identifier matrix 200 is divided according to the torque change rate threshold.
[0026] Furthermore, the time stamp matrix 200 includes dividing the synchronously acquired target torque and actual torque waveforms into an initial region, a linear region, and a steady-state region based on a torque change rate threshold. A dynamic algorithm is used to distinguish the response time at different stages of the torque response process, and the torque change rate and response delay time are obtained in each interval to control the conversion time point of the torque given signal.
[0027] The dynamic algorithm includes the torque change rate expression: , Torque response time expression: , Phase division expression: , , in, This represents the change in torque per unit time, i.e., the rate of change of torque. Indicates time The actual torque value at time t. This represents the difference between two points in time, typically the sampling period. This represents the torque response time, from the time the converter sends the torque signal to the time the generator's actual torque reaches the target torque. 90% of the required time interval, This represents the target torque value, the set desired torque. This represents the torque change rate threshold. By analyzing and summarizing torque response data under different torque conditions, a critical value for the torque change rate is found. This indicates that the system is in the initial region when the rate of change of torque is greater than a threshold. This indicates that the system enters the steady-state region when the rate of change of torque is less than the threshold.
[0028] S3: Based on the synchronous torque waveform and time identifier matrix 200, a phase difference correction coefficient of 300 is introduced to establish a dual-domain response relationship that couples torque response time and frequency domain overshoot.
[0029] Furthermore, the phase difference correction coefficient 300 includes adjusting the phase deviation by real-time measurement of the phase deviation between the synchronously acquired target torque and the actual torque waveform, introducing an adaptive correction coefficient based on a time window, introducing a dynamic synchronization correction mechanism, and dynamically obtaining the time matching degree between different waveforms.
[0030] It should be noted that the torque response time includes the time interval required for the torque response to reach 90% of the target torque by comparing the target torque setpoint signal with the actual torque response waveform under each torque setting condition.
[0031] It should be noted that the frequency domain overshoot includes the following: the overshoot is defined as the percentage deviation of the maximum response peak relative to the set target torque by the amplitude deviation of the peak torque waveform during the response process. The overshoot is corrected in real time by a dynamic algorithm, and the overshoot response is automatically adjusted under different loads based on the load adaptive adjustment mechanism.
[0032] It should be noted that the two-domain response relationship includes, based on torque response time... With frequency domain overshoot By combining the time-domain and frequency-domain response characteristics, a time-frequency domain coupled model 301 for torque response is established, and the time and frequency domain parameters in the torque response process are automatically optimized according to different torque setting conditions.
[0033] It should be noted that, as referred to Figure 2 The phase deviation between the target torque and the actual torque is calculated by synchronously acquiring waveform data. The formula for calculating the phase deviation is as follows: , in, Indicates phase deviation, This represents the phase value of the target torque signal. This represents the phase value of the actual torque signal.
[0034] Based on real-time acquired phase deviation data, an adaptive correction coefficient based on a time window is introduced to adjust the time matching degree between the target torque and the actual torque waveform in real time. The adaptive correction coefficient is calculated based on the torque change rate and phase deviation, and the correction amount is dynamically adjusted, expressed as: , Frequency domain overshoot is expressed as: , in, This indicates the current frequency domain overshoot. This represents the maximum peak value in the torque waveform.
[0035] It should also be noted that by introducing a phase difference correction coefficient of 300, a dynamic synchronization correction mechanism, torque response time calculation, frequency domain overshoot correction, and dual-domain response relationship optimization, the accuracy and synchronization performance of torque response are comprehensively improved. By adjusting the phase deviation and frequency domain overshoot in real time, the problems of inaccurate response and excessive overshoot in traditional methods are solved. Under complex load conditions, the system can maintain a high-precision response and enhance the dynamic performance and stability of the converter under actual operating conditions.
[0036] Example 2, an embodiment of the present invention, provides a torque sinusoidal and square wave dynamic response testing system, including a composite torque command generation module, a torque waveform output module, and a response optimization and correction module.
[0037] The composite torque command generation module is used to generate a composite torque command sequence 100 based on the closed-loop operation of the generator and converter under rated voltage and pure active power operation conditions. It sets the amplitude and period of the torque waveform according to the two rated torque Tn conditions of 30% and 70%, generates sine wave and square wave torque command signals, and outputs the torque signal through the converter.
[0038] Torque waveform output module: Based on the composite torque command sequence 100, it applies sinusoidal and square wave torque command signals to the generator through the converter, and divides the synchronously acquired target torque and actual torque waveforms into the initial region, linear region and steady-state region according to the torque change rate threshold.
[0039] The response optimization and correction module is used to correct the phase deviation between the synchronously acquired target torque and the actual torque waveform by introducing a phase difference correction coefficient 300 based on the synchronous torque waveform and time identifier matrix 200, and to establish a dual-domain response relationship that couples torque response time and frequency domain overshoot.
[0040] This embodiment also provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a torque sinusoidal and square wave dynamic response testing system as proposed in the above embodiment.
[0041] This embodiment also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a torque sinusoidal and square wave dynamic response testing system as proposed in the above embodiment.
[0042] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0043] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.
[0044] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.
[0045] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
Claims
1. A method for testing the dynamic response of torque sinusoidal and square wave, characterized in that, include: Under rated voltage and pure active power operation conditions, a unified composite torque command sequence is constructed based on the closed-loop operation of the generator and converter. Based on the composite torque command sequence, sinusoidal and square wave torque command signals are applied to the generator through the converter, and the time identifier matrix is divided according to the torque change rate threshold. Based on the synchronous torque waveform and time signature matrix, a phase difference correction coefficient is introduced to establish a dual-domain response relationship that couples torque response time and frequency domain overshoot.
2. The torque sinusoidal and square wave dynamic response testing method as described in claim 1, characterized in that: The composite torque command sequence includes, Based on two rated torque conditions of 30% and 70%, torque waveform parameters are set under different torque settings, and the converter outputs sinusoidal torque command signals and square wave torque command signals corresponding to the torque setting ratio, respectively. The sinusoidal torque command signal includes a torque waveform period of 1 second. The square wave torque command signal includes a torque waveform period of 0.5s; By adjusting the torque waveform parameters of each signal, the torque change rate and speed during the torque response process are coupled and correlated. Torque waveform parameters include torque waveform amplitude and torque waveform period.
3. The torque sinusoidal and square wave dynamic response test method as described in claim 1 or 2, characterized in that: The time identifier matrix includes, Based on the torque change rate threshold, the synchronously acquired target torque and actual torque waveforms are divided into initial region, linear region and steady state region. The response time of different stages in the torque response process is distinguished by dynamic algorithm. The torque change rate and response delay time are obtained in each interval to control the conversion time of the torque command signal.
4. The torque sinusoidal and square wave dynamic response testing method as described in claim 3, characterized in that: The phase difference correction coefficient includes, By measuring the phase deviation between the synchronously acquired target torque and the actual torque waveform in real time, an adaptive correction coefficient based on a time window is introduced to adjust the phase deviation. A dynamic synchronization correction mechanism is introduced to dynamically obtain the time matching degree between different waveforms.
5. The torque sinusoidal and square wave dynamic response test method as described in any one of claims 1, 2, and 4, characterized in that: The torque response time includes, Under each torque setting condition, the time interval required for the torque response to reach 90% of the target torque is measured by comparing the target torque setpoint signal with the actual torque response waveform.
6. The torque sinusoidal and square wave dynamic response testing method as described in claim 5, characterized in that: The frequency domain overshoot includes, The overshoot is defined as the percentage deviation of the peak torque waveform relative to the set target torque by the amplitude deviation of the peak torque during the response process. A dynamic algorithm is used to correct the overshoot in real time, and the overshoot response is automatically adjusted under different loads based on the load adaptive adjustment mechanism.
7. The torque sinusoidal and square wave dynamic response test method as described in any one of claims 1, 2, 4, and 6, characterized in that: The dual-domain response relationship includes, Based on torque response time and frequency domain overshoot, and combining time-domain and frequency-domain response characteristics, a time- and frequency-domain coupled model of torque response is established. Depending on the different torque setting conditions, the time and frequency domain parameters in the torque response process are automatically optimized.
8. A torque sinusoidal and square wave dynamic response testing system, employing the torque sinusoidal and square wave dynamic response testing method as described in any one of claims 1 to 7, characterized in that: It includes a composite torque command generation module, a torque waveform output module, and a response optimization and correction module; The composite torque command generation module is used to generate a composite torque command sequence based on the closed-loop operation of the generator and converter under rated voltage and pure active power operation conditions. It sets the amplitude and period of the torque waveform according to the two rated torque conditions of 30% and 70%, generates sine wave and square wave torque command signals, and outputs the torque signal through the converter. The torque waveform output module is used to apply sinusoidal and square wave torque command signals to the generator through the converter based on the composite torque command sequence, and divide the synchronously acquired target torque and actual torque waveforms into the initial region, linear region and steady-state region according to the torque change rate threshold. The response optimization and correction module is used to introduce a phase difference correction coefficient based on the synchronous torque waveform and time identifier matrix to correct the phase deviation between the synchronously acquired target torque and the actual torque waveform, and to establish a dual-domain response relationship coupling torque response time and frequency domain overshoot.
9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the torque sinusoidal and square wave dynamic response testing method according to any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the torque sinusoidal and square wave dynamic response test method according to any one of claims 1 to 7.