CN103745070A - Modeling and simulating method for mechanical transient characteristics of transmission chain of wind generating set - Google Patents
Modeling and simulating method for mechanical transient characteristics of transmission chain of wind generating set Download PDFInfo
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Abstract
The invention discloses a modeling and simulating method for mechanical transient characteristics of a transmission chain of a wind generating set. The method comprises the following steps: (1) building a three-dimensional model of the transmission chain of the wind generating set; (2) importing the three-dimensional model of the transmission chain into ANSYS and ADAMS, and building a finite element model and a rigid-flexible coupling model of the transmission chain, wherein the rigid-flexible coupling model considers the flexibility of a main shaft, a planet carrier, a transmission shaft and an output shaft; (3) building a wind generating set model, calculating a transmission chain load when a power grid has a transient fault, and simulating the power grid fault through a voltage sag generator, wherein a torque-time history of the transmission chain is extracted after calculation; (4) loading the torque-time history of the transmission chain into an ADAMS model to serve as the load boundary condition for simulating the mechanical transient characteristics of the transmission chain, performing simulation analysis on the mechanical transient characteristics such as the torque vibration response and stress of the transmission chain when the power grid has the transient fault in ADAMS, and checking and evaluating the mechanical transient characteristics of the transmission chain; (5) selecting a key load point of the transmission chain and performing static strength check analysis in ANSYS.
Description
Technical field
The present invention relates to the modeling and simulation method of a kind of wind turbine transmission chain machinery transient state operation characteristic when electric network fault.
Background technology
During electrical network generation transient fault, comprise that voltage falls, phase hit etc., grid connected wind power unit transient state operation characteristic can to unit even the security and stability of wind energy turbine set produce and have a strong impact on.The research of carrying out the transient characterisitics of grid connected wind power unit under electrical network transient fault has very important significance.
For double-fed type speed changing and constant frequency wind-powered electricity generation unit, double fed induction generators stator is directly connected with electrical network, line voltage is instantaneous the vibration that fault can cause stator flux of motor such as falls, and at motor stator end, induces superpotential, excess current, causes electromagnetic torque sudden change and vibration.Due between double-fed wind generator turbines vane wheel hub and rotor, by driving-chain, be connected, moment of inertia differs larger between the two; Because driving-chain rigidity is relatively low, in gear case, the engagement of multiple sets of teeth wheel has further strengthened transmission chain flexibility simultaneously.This makes can cause driving-chain to bear larger uneven moment of torsion on the one hand from the fluctuation of wind speed and the disturbance of electric network fault, produces fluctuation and the vibration of machine torque, evokes the resonance of driving-chain.Can cause on the other hand chain sub-assembly to bear the larger shear force of turning round and impact, and produce strain.Thereby the fatigue load that strengthens driving-chain and parts thereof, affects its Long Service Life.Serious in the situation that, huge moment of torsion may cause transmission shaft to occur crackle, even occurs the catastrophic failure problems such as fracture.
In recent years, the problem that affects for electric network fault on wind-powered electricity generation unit, existing correlative study both at home and abroad, but mainly for aerogenerator electric part transient state process, carry out stability of power system, the quality of power supply etc. when research contents also mainly concentrates on electrical network transient fault.The realistic model of setting up has been done larger simplification to mechanical drive chain part, mainly with two masses or the equivalence of three mass models, that is: blade wheel hub is equivalent to a rigid block, gear case and generator amature are equivalent to one or two mass, the slow-speed shaft and the high speed shaft that connect this three are considered as to flexible shaft.As Liu Si (Liu Si, Tian De, Deng Ying etc. double-fed wind power generator group equivalent model is on the impact of unit transient stability [J]. regenerative resource 2012,30 (10): the driving-chain three mass equivalent models 42-46.) etc. set up, the simulation analysis that grid disturbance situation leeward group of motors transient stability has been carried out.Badrinath V. (Badrinath V., D.Santos-Martin, H.Jensen.Voltage sag influence on fatigue life of the drivetrain of fixed speed wind turbines[J] .ARPN Journal of Engineering and Applied Sciences.2011,6 (3): 106-115.) etc. set up driving-chain three mass models, simulation analysis voltage fall fault to the impact of fatigue lifetime of wind-powered electricity generation unit.This modeling and simulation method during for research electrical network transient fault the electric transient characterisitics of wind-powered electricity generation unit be effectively, but cannot carry out quantitatively the mechanical transient characterisitics of driving-chain, accurately analyze.(the Qin Shiyao of China Power academy of sciences, Wang Yingying, Li Qing etc. LVRT Capability of Wind Turbine Generator characteristic associative simulation model and joint simulation method thereof. Chinese patent, 201210279998.4.2012-12-12.) has proposed the LVRT Capability of Wind Turbine Generator characteristic joint simulation method based on Bladed and Matlab.Chinese patent, 201110306473.0 have proposed a kind of Bladed of comprising unit, the comprehensive simulation system for low-voltage passing of wind turbine of RTDS unit and PLC controller.Above-mentioned associative simulation model does not all carry out detailed modeling consideration to mechanical drive train, but adopts different simplified models to substitute.Its simulation result can not effectively obtain the mechanical transient characterisitics of driving-chain.
Summary of the invention
The object of the invention is to overcome prior art and cannot further investigate the shortcoming of wind turbine transmission chain machinery transient characterisitics, propose a kind of in electrical network transient fault situation, the modeling and simulation method of wind turbine transmission chain machinery transient characterisitics.The present invention is by setting up the transient state kinetic model of driving-chain, and carry out the mechanical transient characterisitics simulation analysis of driving-chain under electric network fault based on synergy emulation method, thereby can quantitatively, accurately analyze the mechanical Transient State Influence of electrical network transient fault to driving-chain, for design optimization and the control strategy of driving-chain provides theoretical foundation.
The present invention adopts following technical scheme:
Model driving-chain transient state kinetic model, its technical scheme is as follows:
Adopt CAD software Solid works to set up wind turbine transmission chain three-dimensional model.
Further, adopt finite element software ANSYS to set up driving-chain finite element model.Adopt ADAMS to set up driving-chain Rigid-flexible Coupling Model simultaneously, wherein consider parts that driving-chain rigidity is lower as: the elastic deformation impact of main shaft, planet carrier, gear shaft and output shaft, is equivalent to flexible body by above-mentioned parts.
Next sets up wind-powered electricity generation unit whole machine model, and the LOAD FOR of driving-chain while carrying out electrical network transient fault, extracts driving-chain moment of torsion-time history data, i.e. the time dependent discrete data of driving-chain moment of torsion.Its technical scheme is as follows:
Adopt the program of the increasing income FAST of U.S. NREL to set up wind-powered electricity generation unit aerodynamic model, driving-chain model and pylon model.In FAST initial input file, input fan operation parameter and basic geometric parameters, set up pylon file, blade file, Aerodyn file, ADAMS specified file and control system file simultaneously.Wherein driving-chain model adopts reduced mass block models, and driving-chain rigidity is by carrying out FEM (finite element) calculation or driving-chain entity being carried out to rigidity test acquisition to driving-chain model.Operation FAST initial input file generated wind-powered electricity generation unit aerodynamic model, driving-chain model and pylon model.Adopt emulation tool Matlab/Simulink to set up wind-powered electricity generation unit electrical model, the electrical model of foundation mainly comprises: pitch-controlled system model, generator converter system model and control system model, set up drop generator model simultaneously.
Further, set the mutual variable between FAST and Simulink model, adopt the mode of S-Function to set up dynamic link, FAST model is imported in Simulink model, thereby generate complete blower model.
When further, the associative simulation based on Simulink and FAST model carries out electrical network transient fault, driving-chain load associative simulation calculates.After emulation completes, by driving-chain load data, the form with txt derives, and forms driving-chain load file.Driving-chain load mainly comprises moment of torsion-time history on driving-chain main shaft and output shaft.Emulation operating mode mainly comprises: normally operation, electric network fault and fault recovery state, thereby the check analysis of during can realizing electric network fault and electric network fault front and back driving-chain transient characterisitics.Electric network fault is simulated by drop generator model is set.Fault type mainly considers that line voltage falls and two types of phase hits.The fault degree of depth mainly considers 20%, 30%, 50%, the 75% four class degree of depth.Trouble duration is mainly considered 625ms, 900ms, 1200ms, tetra-periods of 1700ms.
The simulation analysis that finally carries out electrical network transient fault underdrive chain machinery transient characterisitics, its concrete grammar is as follows:
Mode by the driving-chain moment of torsion-time history data that extract with Spline function imports in ADAMS Rigid-flexible Coupling Model, and is applied on driving-chain main shaft relevant position, and as the load boundary condition of driving-chain transient characterisitics simulation analysis.
Further, operation ADAMS dynamics simulation, emulation finishes the transient state vibratory response of rear extraction chain sub-assembly, comprise torsion angle speed and angular acceleration, carry out respectively time and frequency domain analysis, compare vibration amplitude and the vibration frequency of electric network fault front and back chain sub-assembly, assess it and whether parts are caused damage and whether evoke the resonance of driving-chain.Extract stress, the strain of chain sub-assembly, analyze the STRESS VARIATION of electrical network transient fault front and back chain sub-assembly, and chain sub-assembly is carried out to strength check and fatigue life prediction.
Further, choose the crucial point of load of driving-chain, in ANSYS, further implement static strength check analysis.The crucial point of load is mainly considered driving-chain load peaks point and the point of load corresponding to gear shaft peak stress.The load boundary condition of respectively driving-chain load peaks point and the point of load corresponding to gear shaft peak stress being analyzed as ANSYS STATIC SIMULATION.The analysis of operation STATIC SIMULATION, emulation finishes rear extraction simulation result and analyzes, the intensity of assessment chain sub-assembly.
Accompanying drawing explanation
Fig. 1 is electrical network transient fault underdrive chain machinery transient characterisitics modeling and simulation process flow diagram;
Fig. 2 is the wind-powered electricity generation unit complete machine associative simulation model architecture figure based on FAST and Simulink.
Embodiment:
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Fig. 1 is electric network fault underdrive chain machinery transient characterisitics modeling and simulation process flow diagram.
Involved in the present invention to modeling and simulation method be mainly divided into three parts, model driving-chain transient state kinetic model, comprising: driving-chain finite element model and Rigid-flexible Coupling Model.Secondly, driving-chain LOAD FOR when setting up complete blower model and carrying out electrical network transient fault.Emulation finishes rear extraction driving-chain moment of torsion-time history.Finally, using driving-chain moment of torsion-time history as load boundary condition, respectively driving-chain finite element model and Rigid-flexible Coupling Model are carried out to transient characterisitics emulation, and simulation result is assessed.The invention process step is as follows:
(1) first, adopt CAD software to set up driving-chain three-dimensional model: to consider that three-dimensional model does not affect subsequent simulation speed when objectively responding driving-chain transient characterisitics, therefore three-dimensional model is suitably simplified, the chain sub-assembly of setting up mainly comprises: main shaft, gear train and output shaft, wherein gear train mainly comprises: gears at different levels, planet carrier and gear shaft.Ignoring transient characterisitics affects the modeling of unconspicuous chain sub-assembly, as: gear housing and bearing pin parts.Chain sub-assembly is assembled into driving-chain complete machine three-dimensional model according to accurate positioning relation.
Adopt finite element software ANSYS to set up driving-chain finite element model.Driving-chain three-dimensional model is imported in finite element software ANSYS, and Definition Model material properties also carries out finite element grid division to model.Wherein, the grid in meshing zone of gears territory needs refinement, and the grid of miscellaneous part is unsuitable meticulous, otherwise can affect subsequent simulation speed.After grid is divided and to be finished, it is right that gear engagement position and the definition of parts contact site contacts, probes into the Transient State Influence that gear meshes stress and parts contact stress.
Set up driving-chain Rigid-flexible Coupling Model.Driving-chain three-dimensional model is imported in many-body dynamics software ADAMS.The material properties of Definition Model.Consider that parts that driving-chain rigidity is lower are as the impact of the elastic deformation of main shaft, planet carrier, gear shaft and output shaft on driving-chain transient characterisitics, above-mentioned parts are equivalent to flexible body, in finite element software, carry out respectively Substructure Analysis, extract the main mode of each parts and import in ADAMS and replace it front rigid body parts by mode neutral file, forming driving-chain Rigid-flexible Coupling Model.For ease of in ADAMS to compliant member imposed load and constraint of kinematic pair, when carrying out Substructure Analysis, load and kinematic pair need to be applied to node binding on face to intermediate node, and apply associated load and constraint of kinematic pair by intermediate node.
(2) on the basis of previous step, set up complete blower model.Adopt the program of the increasing income FAST of U.S. NREL to set up wind-powered electricity generation unit aerodynamic model, driving-chain model and pylon model.In FAST initial input file, input fan operation parameter and basic geometric parameters, set up pylon file, blade file, Aerodyn file, ADAMS specified file and control system file simultaneously.Wherein driving-chain model adopts reduced mass block models, and driving-chain rigidity is by carrying out FEM (finite element) calculation or driving-chain entity being carried out to rigidity test acquisition to driving-chain model.The present invention adopts FEM (finite element) calculation, and its concrete technical scheme is: set driving-chain main shaft initial position, this position driving-chain finite element model is retrained entirely, be subject to apply on section the moment of torsion of 50Nm at main shaft, operation STATIC SIMULATION.After emulation finishes, read main shaft and be subject to the maximum deformation quantity on section, calculate torsional rigidity.By the driving-chain main shaft angle that turns clockwise, again carry out Rigidity Calculation.Repeat said process and obtain driving-chain many group torsional rigidity values in a swing circle, all data are averaged and obtain the average torsional rigidity value of driving-chain, and as final argument.
Adopt emulation tool Matlab/Simulink to set up wind-powered electricity generation unit electrical model, the electrical model of foundation mainly comprises: pitch-controlled system model, generator converter system model and control system model, set up drop generator model simultaneously.Wherein, pitch-controlled system model is with first order inertial loop equivalence.Engine mockup can reflect the transient characterisitics of rotor flux.Current transformer model comprises machine survey current transformer model and net side converter model, and respectively with voltage source and current source equivalence.Control system is carried out modeling according to working control strategy, comprises maximal power tracing, output-constant operation control, meritorious and reactive power adjusting, pitch control and the control module relevant to low voltage crossing.Drop generator model adopts reactor partial pressure type generation line voltage to fall, and electrical network can be set and fall the degree of depth and fall type.
Set the mutual variable between Simulink model and FAST model, adopt the mode of S-Function to set up dynamic link, FAST model is imported in Simulink model, thereby generate complete blower model.Fig. 2 is the wind-powered electricity generation unit associative simulation model architecture figure based on FAST and Simulink, and the mutual variable between FAST model and Simulink model comprises propeller pitch angle, wind energy conversion system angular velocity, output shaft angular velocity and electromagnetic torque.Wherein, FAST model passes to generator converter module in Simulink model in real time by calculating the output shaft angular velocity obtaining in each simulation step length, wind energy conversion system angular velocity is passed to protection module and control system model in real time simultaneously.The electromagnetic torque that electrical model obtains emulation and slurry elongation Real-time Feedback return FAST model, carry out the calculating of next simulation step length.
While carrying out electrical network transient fault, driving-chain load associative simulation calculates.Based on Simulink environment, carry out the associative simulation of Simulink and FAST model, after emulation completes, by driving-chain load data with the form of txt out, form driving-chain load file.Driving-chain load mainly comprises moment of torsion-time history on driving-chain main shaft and output shaft, i.e. the time dependent discrete data of driving-chain moment of torsion.Emulation operating mode mainly comprises: normally operation, electric network fault and fault recovery state, thereby the check analysis of during can realizing electric network fault and electric network fault front and back driving-chain transient characterisitics.Electric network fault is simulated by drop generator model is set.Fault type mainly considers that line voltage falls and two types of phase hits.The fault degree of depth mainly considers 20%, 30%, 50%, the 75% four class degree of depth.Trouble duration is mainly considered 625ms, 900ms, 1200ms, tetra-periods of 1700ms.
(3) carry out the simulation analysis of electrical network transient fault underdrive chain machinery transient characterisitics.Driving-chain moment of torsion-time history data that previous step is obtained import in ADAMS driving-chain Rigid-flexible Coupling Model to create the form of Spline, and by calling the method for Spline function, load data are added on the Marker point of driving-chain model main shaft and output shaft.Operation ADAMS dynamics simulation, emulation finishes the transient state vibratory response of rear extraction chain sub-assembly, comprise torsion angle speed and angular acceleration, carry out respectively time and frequency domain analysis, compare vibration amplitude and the vibration frequency of electric network fault front and back chain sub-assembly, assess it and whether parts are caused damage and whether evoke the resonance of driving-chain.Extract stress, the strain of chain sub-assembly, analyze the STRESS VARIATION of electrical network transient fault front and back chain sub-assembly, and chain sub-assembly is carried out to strength check and fatigue life prediction.
Based on previous step simulation result, choose the crucial point of load of driving-chain, in ANSYS, further implement static strength check analysis.The crucial point of load is mainly considered driving-chain load peaks point and the point of load corresponding to gear shaft peak stress, wherein driving-chain load peaks point may cause chain sub-assembly to produce fracture, thereby gear shaft peak stress may cause the increase of gear engagement stress to destroy the gear teeth.Driving-chain load peaks point is chosen by driving-chain load-time-history file, and emphasis is chosen for output shaft electromagnetic torque fluctuation peak value in electrical network transient fault process.Gear shaft peak stress is chosen by ADAMS stress simulation result, and correspondence selects peak stress driving-chain load constantly from load-time-history file.The load boundary condition of respectively driving-chain load peaks point and the point of load corresponding to gear shaft peak stress being analyzed as ANSYS STATIC SIMULATION.The analysis of operation STATIC SIMULATION, emulation finishes rear extraction simulation result and analyzes, the intensity of assessment chain sub-assembly.
Claims (5)
1. a modeling and simulation method for wind turbine transmission chain machinery transient characterisitics, is characterized in that: described modeling and simulation method is: model driving-chain transient state kinetic model; The LOAD FOR of driving-chain when next is set up wind-powered electricity generation unit whole machine model and carries out electrical network transient fault; The simulation analysis of driving-chain machinery transient characterisitics while implementing again electrical network transient fault, and simulation result is assessed.
2. according to the modeling and simulation method of wind turbine transmission chain machinery transient characterisitics claimed in claim 1, it is characterized in that: the described method of setting up driving-chain transient state kinetic model is:
(1) adopt CAD software to set up driving-chain three-dimensional model, this driving-chain three-dimensional model is about the comparatively obvious chain sub-assembly of transient characterisitics impact: the three-dimensional model of main shaft, gear train and output shaft, and be assembled into driving-chain model;
(2) set up driving-chain finite element model, the driving-chain three-dimensional model that step (1) is obtained imports in finite element software ANSYS, and driving-chain three-dimensional model is divided to finite element grid, forms driving-chain finite element model;
(3) set up driving-chain Rigid-flexible Coupling Model, driving-chain three-dimensional model is imported in many-body dynamics software ADAMS, by the lower parts of rigidity: main shaft, planet carrier, gear shaft and output shaft are equivalent to flexible body, by miscellaneous part as: gear, bearing pin are equivalent to rigid body, form driving-chain Rigid-flexible Coupling Model.
3. according to the modeling and simulation method of wind turbine transmission chain machinery transient characterisitics claimed in claim 1, it is characterized in that: the described method of setting up wind-powered electricity generation unit whole machine model is:
Adopt the program of the increasing income FAST software of U.S. NREL to set up wind-powered electricity generation unit aerodynamic model, driving-chain model and pylon model; In FAST initial input file, input fan operation parameter and basic geometric parameters, set up pylon file, blade file, Aerodyn file, ADAMS specified file and control system file simultaneously; Wherein driving-chain model adopts reduced mass block models, and driving-chain rigidity is by carrying out FEM (finite element) calculation or driving-chain entity being carried out to rigidity test acquisition to driving-chain model; Operation FAST initial input file generated wind-powered electricity generation unit aerodynamic model, driving-chain model and pylon model;
Adopt emulation tool Matlab/Simulink to set up wind-powered electricity generation unit electrical model, described wind-powered electricity generation unit electrical model mainly comprises: pitch-controlled system model, generator converter system model and control system model; Set up drop generator model simultaneously;
Set the mutual variable between FAST and Simulink model, adopt the mode of S-Function to set up dynamic link, FAST model is imported in Simulink model, generate complete blower model.
4. according to the modeling and simulation method of wind turbine transmission chain claimed in claim 1 machinery transient characterisitics, it is characterized in that: during described electrical network transient fault, the load calculation method of driving-chain is as follows:
When the associative simulation based on Simulink and FAST model carries out electrical network transient fault, driving-chain load associative simulation calculates; After emulation completes, driving-chain load data is formed to driving-chain load file; Driving-chain load mainly comprises moment of torsion-time history on driving-chain main shaft and output shaft, i.e. the time dependent discrete data of driving-chain moment of torsion; Emulation operating mode is set as: normally operation, electric network fault and fault recovery state; Electric network fault is simulated by drop generator model is set; Fault type mainly considers that line voltage falls and two kinds of phase hits, and the fault degree of depth mainly considers 20%, 30%, 50%, 75% four class, and trouble duration is mainly considered 625ms, 900ms, 1200ms, tetra-sections of 1700ms.
5. according to the modeling and simulation method of wind turbine transmission chain machinery transient characterisitics claimed in claim 1, it is characterized in that: during described enforcement electrical network transient fault, the method for the simulation analysis of driving-chain machinery transient characterisitics is:
In driving-chain moment of torsion-time history data importing driving-chain ADAMS driving-chain Rigid-flexible Coupling Model that described step (3) is extracted, and driving-chain moment of torsion-time history data are added on the Marker point of input shaft and output shaft to the load boundary condition of analyzing as driving-chain machinery transient characterisitics; Operation dynamics simulation, emulation finishes the transient state vibratory response of rear extraction chain sub-assembly, comprise torsion angle speed and angular acceleration, carry out respectively time and frequency domain analysis, compare vibration amplitude and the vibration frequency of electric network fault front and back chain sub-assembly, assess it and whether parts are caused damage and whether evoke the resonance of driving-chain; Extract stress, the strain of chain sub-assembly, analyze the STRESS VARIATION of electrical network transient fault front and back chain sub-assembly, and chain sub-assembly is carried out to strength check and fatigue life prediction;
Further choose the crucial point of load of driving-chain, in ANSYS, implement static strength check analysis; The crucial point of load is mainly considered driving-chain load peaks point and the point of load corresponding to gear shaft peak stress; The load boundary condition of respectively driving-chain load peaks point and the point of load corresponding to gear shaft peak stress being analyzed as ANSYS STATIC SIMULATION; The analysis of operation STATIC SIMULATION, emulation finishes rear extraction simulation result and analyzes, the intensity of assessment chain sub-assembly.
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