CN104317283A - Hardware-in-the-loop test platform and test method for wind power plant control system - Google Patents

Hardware-in-the-loop test platform and test method for wind power plant control system Download PDF

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Publication number
CN104317283A
CN104317283A CN201410538708.2A CN201410538708A CN104317283A CN 104317283 A CN104317283 A CN 104317283A CN 201410538708 A CN201410538708 A CN 201410538708A CN 104317283 A CN104317283 A CN 104317283A
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China
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wind
machine
wind power
platform
computer
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CN201410538708.2A
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Chinese (zh)
Inventor
李玲莲
陈元俊
鲍秀昌
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上海卡鲁自动化科技有限公司
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Priority to CN201410382332.0 priority Critical
Priority to CN201410382332 priority
Application filed by 上海卡鲁自动化科技有限公司 filed Critical 上海卡鲁自动化科技有限公司
Priority to CN201410538708.2A priority patent/CN104317283A/en
Publication of CN104317283A publication Critical patent/CN104317283A/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00Testing or monitoring of control systems or parts thereof
    • G05B23/02Electric testing or monitoring
    • G05B23/0205Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0243Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model

Abstract

The invention discloses a hardware-in-the-loop test platform and test method for a wind power plant control system. The test platform comprises a core power grid and converter central computing simulator, a wind generation set pneumatic and mechanical simulation computer cluster, a test platform state monitoring and operating upper computer, a gateway and port module, a wind power plant control system and the like, the upper computer communicates with each simulator through high-speed Ethernet, and each simulator communicates with the tested wind power plant control system through high-speed Ethernet. The test platform is capable of repeatedly simulating the normal and fault working conditions of the wind power plant, completely and automatically testing the software, hardware and communication of the wind power plant control system, observing and recording the response of the wind power plant control system and helping a designer to evaluate control quality, and therefore, the development cost and field debugging time are greatly reduced, and in addition, the the test platform is capable of helping the wind power plant development planner to perform micro-sitting selection.

Description

A kind of for wind power station control system hardware-in―the-loop test platform and method of testing thereof

Technical field

The present invention is open a kind of for wind power station control system hardware-in―the-loop test platform and method of testing thereof.

Background technology

The randomness of wind-engaging and intermittent impact, the fluctuation of Power Output for Wind Power Field is comparatively large, and this have impact on the peak-frequency regulation of electrical network to a certain extent, causes cost of wind power generation too high, makes it cannot be at war with conventional Power Generation Mode.

The researcher in current wind-powered electricity generation field proposes a kind of new control system-wind energy turbine set energy management system, this system can combine by the field level of wind energy turbine set is meritorious/reactive power prognoses system, supervisory system and energy storage control system, meet public electric wire net limit exert oneself instruction prerequisite under, the wind power that wind energy turbine set produces is regulated, wind-powered electricity generation fluctuation can be stabilized, can wind energy utilization be improved again, realize the object of intelligent control.

Wind power station control system will consider the factors of each side on stream, and the quantity of information of collection is comparatively large, and will send instruction in time according to electrical network and current state, also higher to requirement of real-time, therefore cost of development is very high simultaneously; In addition after this control system's development completes, also need to carry out long function and reliability testing, because directly examination with computer is very risky, likely can cause the paralysis of whole wind energy turbine set, loss is unable to estimate.At present still not for the laboratory test platform of this wind power station control system, most of software is just directly installed on true wind energy turbine set and runs after carrying out modelling verification, operation risk is larger.

Hardware-in-the-loop test has become a very important ring in control system's development flow process, this technology has had very ripe application at automobile and field of aerospace, but the application in wind-powered electricity generation field is ground zero, be mainly used in the development& testing of independent control system of wind turbines at present, also do not can be used for the hardware-in―the-loop test platform of wind power station control system development& testing.

Wind power station control system hardware-in-the-loop test platform can simulate an operating wind field for wind power station control system, wind power station control system is ordered to the master control system of each independent Wind turbines with sending by the miscellaneous equipment controlled in wind field, thus control exerting oneself of wind field, regulate electrical network to be incorporated to voltage a little and frequency etc., also can sample simultaneously and monitor various key parameter.Build the hardware-in―the-loop test platform of wind energy turbine set level, the difficult point of core comprises the real-time etc. of the precision of electrical model, the computational accuracy of test platform computer hardware, the generation of real-time code, the scheduling of multitask and communication.

Summary of the invention

The object of the invention is to propose one for wind power station control system hardware-in―the-loop test platform and method of testing thereof, this test platform can repeat routine and the fault condition of simulating wind energy turbine set, the software of wind power station control system, hardware and communication are realized comprehensively, the test of robotization and the response of observation and record wind power station control system, Computer Aided Design personnel evaluation Control platform, thus the time significantly reducing cost of development and field adjustable; In addition, also assisting wind generating field development project personnel microcosmic structure can be carried out.

For achieving the above object, the one that the present invention proposes is used for wind power station control system hardware-in―the-loop test platform, is solved by the following technical programs:

One of the present invention is used for wind power station control system hardware-in―the-loop test platform, comprise host computer, the slave computer lump platform of communication is carried out with host computer, the wind power station control system of communication is carried out with this slave computer lump platform, and gateway and interface module, described slave computer lump platform comprises core electrical network and current transformer central authorities computer sim-ulation machine, pneumatic and the mechanical model replicating machine bunch group of Wind turbines, described pneumatic and mechanical model replicating machine bunch group is made up of the pneumatic and machine emulated machine of several Wind turbines, pneumatic and the machine emulated machine of described each Wind turbines comprises 5-10 the pneumatic and machine emulated model of Wind turbines.

As the preferred technical solution of the present invention:

One of the present invention is used for wind power station control system hardware-in―the-loop test platform, and the simulation step length of the pneumatic and machine emulated machine of described Wind turbines is 10ms.

One of the present invention is used for wind power station control system hardware-in―the-loop test platform, described core electrical network and current transformer central authorities computer sim-ulation machine comprise the electric network model of transmission line model, Wind turbines master control system model, transformer model, reactive power compensation device model and main booster stations model, the above each model is built under Matlab/simulink environment, and simulation step length is 1ms.

One of the present invention is used for wind power station control system hardware-in―the-loop test platform, pneumatic and the machine emulated model of described Wind turbines comprises wake model, Aerodynamics Model, driving-chain model, tower body kinetic model, and it is mutual that the pneumatic and machine emulated machine of this Wind turbines carries out Ethernet by control unit interface and electrical network/current transformer interface and described wind power station control system, described core electrical network and current transformer central authorities computer sim-ulation machine.

One of the present invention is used for wind power station control system hardware-in―the-loop test platform, described host computer, all adopts ethernet communication between slave computer lump platform and wind power station control system.

The present invention also proposes the method for testing of test platform described in more than one, comprises the following steps:

1) according to the correlation parameter of controlled wind energy turbine set, in described host computer, the model of controlled wind energy turbine set is set up; The realistic model of wind energy turbine set comprise the pneumatic and machine emulated model of Wind turbines described in several, described in comprise the electric network model of transmission line model, several Wind turbines master control system models described and transformer model, described reactive power compensation device model and main booster stations model;

2) in described host computer, the model generation real-time code of the wind energy turbine set of above-mentioned foundation is carried out real-time code conversion, and download to real time execution in described slave computer lump platform by ethernet communication;

3) ethernet communication carried out between described host computer and slave computer lump platform and between slave computer lump platform and wind power station control system configures;

4) in described host computer, the parameter of the wind energy turbine set realistic model at slave computer lump platform real time execution is configured; In host computer, the operating mode that will test is set and imported;

5) after the simulated environment that whole test platform is virtual brings into operation, described host computer carries out on line real-time monitoring to slave computer lump platform and tested wind power station control system and performs time-out, shut-down operation, and automatically records and the relevant service data of storage;

6), after having tested, in described host computer, described record is processed with the relevant service data of storage and analyzed, tested wind power station control system is assessed.

Owing to adopting above technical scheme, one of the present invention is used for wind power station control system hardware-in―the-loop test platform, and its main advantage has:

(1) wind energy turbine set parametric modeling, can carry out building of model according to the distribution of the geographical environment of wind energy turbine set and Wind turbines, can compatible polytype Wind turbines;

(2) measurement condition enriches, can repetition fast, systematically evaluates the quality of wind farm grid-connected control strategy;

(3) test platform hardware performance is superior, takes full advantage of the performance of multi-core computer and bunch group's computing machine parallel computation, supports the electromagnetic property of 1ms step levels and the mechanical kinetics characteristic of 10ms step levels;

(4) test platform is open, and extensibility is good;

(5) reduce cost of development, improve the safety and reliability of wind farm grid-connected control.

The method of testing of the above test platform of the present invention, has the following advantages:

(1) step of realistic model real-time code generates, downloads and runs;

(2) based on wind energy turbine set parametric modeling, can the wind energy turbine set type of rapid configuration different parameters by host computer;

(3) testing process robotization: testing process comprises the measurement condition of one or more setting, adopts the mode order of batch processing to perform, whole test process full automation;

(4) test report generates automatically: after having tested, and host computer generates test report automatically, by restrictive curve setting and the actual test result of output signal, assesses the Control platform of control system.

Accompanying drawing explanation

The invention will be further described with specific embodiment with reference to the accompanying drawings below:

Fig. 1 is the annexation figure of the total topological sum all parts for wind power station control system hardware-in―the-loop test platform of the present invention;

Fig. 2 is center electrocardio net of the present invention and current transformer model-composing

Fig. 3 is the pie graph of the pneumatic and machine emulated model of Wind turbines in the present invention

Embodiment

As shown in Figure 1, a kind of hardware-in―the-loop test platform for wind power station control system of the present invention, comprises host computer 1, carries out the slave computer lump platform 5 of communication, the wind power station control system 4 carrying out communication with this slave computer lump platform 5 and gateway and interface module with host computer 1.Slave computer lump platform 5 comprises the pneumatic and mechanical model replicating machine bunch group 3 of core electrical network and current transformer central authorities computer sim-ulation machine 2, Wind turbines, this Wind turbines is pneumatic to be made up of the pneumatic and machine emulated machine 8 of several Wind turbines with mechanical model replicating machine bunch group 3, and simulation step length is 10ms.

As shown in Figure 2, core electrical network and current transformer central authorities computer sim-ulation machine 2 comprise the electric network model 6 of transmission line model, Wind turbines master control system model 7, transformer model 9, reactive power compensation device model 10 and main booster stations model 11, the above each model is built under Matlab/simulink environment, and simulation step length is 1ms, this core electrical network and converter central authorities computer sim-ulation machine 2 form slave computer lump platform 5 with Wind turbines is pneumatic with mechanical model replicating machine bunch group 3, core electrical network and current transformer central authorities computer sim-ulation machine 2 are responsible for running electrical network, transmission line, the current transformer model of reactive power compensator and all Wind turbines, it adopts high-performance real-time industrial computing machine.

As shown in Figure 3, pneumatic and the machine emulated machine 8 of Wind turbines of the present invention comprises 5-10 the pneumatic and machine emulated model of Wind turbines, single realistic model comprises wake model 12, Aerodynamics Model 13, driving-chain model 14, tower body kinetic model 15, it is mutual that the pneumatic and machine emulated computing machine of this Wind turbines is responsible for carrying out with wind outside electrical field control system 4, core electrical network and current transformer central authorities computer sim-ulation machine 2 Fast Ethernet by control unit interface 16 and electrical network/current transformer interface 17.Wake model 12 starts with the free wind speed and direction of the overall situation, calculates the single wind speed on each different wind energy conversion system position, and considers that the impact of Terrain Elevation is revised.The incoming flow of each wind energy conversion system is converted to thrust and the moment of torsion of impeller by Aerodynamics Model 13.Driving-chain model 14, the result that tower body kinetic model 15 calculates according to Aerodynamics Model 13, calculates the motion of tower body respectively, and the torsional oscillation of driving-chain.Driving-chain model 14, based on two matter block models, considers inertia and the 1 rank torsion mode of driving-chain.

In the present invention, between host computer 1 and the above each replicating machine and between replicating machine and wind power station control system 4, all adopt Fast Ethernet communication.

The method of testing of test platform of the present invention is as follows:

1) in host computer 1, the virtual environment that wind power station control system 4 runs is set up: according to the correlation parameter of controlled wind energy turbine set, in host computer 1, set up the model of controlled wind energy turbine set; The realistic model of wind energy turbine set comprises the pneumatic and machine emulated model of several Wind turbines, and (single realistic model comprises wake model 12, Aerodynamics Model 13, driving-chain model 14, tower body kinetic model 15), comprise the electric network model 6 of transmission line model, several Wind turbines master control system models 7, several transformer model 9, reactive power compensation device model 10 and main booster stations model 11.Adopt computer cluster group can simulate the wind energy conversion system of multiple stage different capacity or position in wind energy turbine set.

2) generate real-time code and download to slave computer lump platform 5: in host computer 1, the model of the wind energy turbine set of above-mentioned foundation being carried out real-time code conversion, and download to real time execution in slave computer lump platform 5 by ethernet communication;

3) test platform communication configuration: the Fast Ethernet communication carried out between host computer 1 and the above each replicating machine and between replicating machine and wind power station control system 4 configures;

4) parameter configuration and measurement condition setting: in host computer 1, the parameter of the wind energy turbine set realistic model at slave computer lump platform 5 real time execution is configured; In host computer 1, the operating mode that will test (as following table 1) is set and imported.

5) on-line monitoring of test process and operation: after the virtual simulated environment of whole test platform brings into operation, by the graphical interfaces in host computer 1, on line real-time monitoring and performs the associative operation such as time-outs, stopping is carried out to slave computer lump platform 5 and tested wind power station control system 4 prototype, and automatically record and store relevant service data;

6), after having tested, can record and the service data stored be processed and be analyzed in host computer 1, the basic function of tested wind power station control system 4 and reliability are assessed.

The test function of test platform of the present invention comprises wind energy turbine set communication test and electrical control functional test, and wherein, wind energy turbine set communication test content comprises:

1, signaling interface and mark

2, communication delay

3, farm controller response during wind field connection fault

4, farm controller response during grid interface connection fault

All measurement condition can perform under fixing and variable wind speed/line voltage.

Wind park controller electrical control test can control to carry out correct setting value tracking and disturbance reponse to active power restriction and Voltage-Reactive Power power.

Typical measurement condition is as follows:

Table 1 wind power station control system hardware-in―the-loop test platform test operating mode

All measurement condition can perform under fixing and variable wind speed/line voltage.

But above-mentioned embodiment is exemplary, being to better enable those skilled in the art understand this patent, can not being interpreted as it is restriction this patent being comprised to scope; As long as according to this patent disclose any equivalent change done or the modification of spirit, all fall into the scope that this patent comprises.

Claims (6)

1. one kind for wind power station control system hardware-in―the-loop test platform, it is characterized in that: comprise host computer, the slave computer lump platform of communication is carried out with host computer, the wind power station control system of communication is carried out with this slave computer lump platform, and gateway and interface module, described slave computer lump platform comprises core electrical network and current transformer central authorities computer sim-ulation machine, pneumatic and the mechanical model replicating machine bunch group of Wind turbines, described pneumatic and mechanical model replicating machine bunch group is made up of the pneumatic and machine emulated machine of several Wind turbines, pneumatic and the machine emulated machine of described each Wind turbines comprises 5-10 the pneumatic and machine emulated model of Wind turbines.
2. test platform according to claim 1, is characterized in that: the simulation step length of the pneumatic and machine emulated machine of described Wind turbines is 10ms.
3. test platform according to claim 1 and 2, it is characterized in that: in described core electrical network and current transformer central authorities computer sim-ulation machine, comprise the electric network model of transmission line model, Wind turbines master control system model, transformer model, reactive power compensation device model and main booster stations model, the above each model is built under Matlab/simulink environment, and simulation step length is 1ms.
4. test platform according to claim 3, it is characterized in that: the pneumatic and machine emulated model of described Wind turbines comprises wake model, Aerodynamics Model, driving-chain model, tower body kinetic model, it is mutual that the pneumatic and machine emulated machine of described Wind turbines carries out Ethernet by control unit interface and electrical network/current transformer interface and described wind power station control system, described core electrical network and current transformer central authorities computer sim-ulation machine.
5. test platform according to claim 4, is characterized in that: described host computer, all adopt ethernet communication between slave computer lump platform and wind power station control system.
6. the method for testing of test platform according to claim 5, is characterized in that: comprise the following steps:
1) according to the correlation parameter of controlled wind energy turbine set, in described host computer, the model of controlled wind energy turbine set is set up; The realistic model of wind energy turbine set comprise the pneumatic and machine emulated model of Wind turbines described in several, described in comprise the electric network model of transmission line model, several Wind turbines master control system models described and transformer model, described reactive power compensation device model and main booster stations model;
2) in described host computer, the model generation real-time code of the wind energy turbine set of above-mentioned foundation is carried out real-time code conversion, and download to real time execution in described slave computer lump platform by ethernet communication;
3) ethernet communication carried out between described host computer and slave computer lump platform and between slave computer lump platform and wind power station control system configures;
4) in described host computer, the parameter of the wind energy turbine set realistic model at slave computer lump platform real time execution is configured; In host computer, the operating mode that will test is set and imported;
5) after the simulated environment that whole test platform is virtual brings into operation, described host computer carries out on line real-time monitoring to slave computer lump platform and tested wind power station control system and performs time-out, shut-down operation, and automatically records and the relevant service data of storage;
6), after having tested, in described host computer, described record is processed with the relevant service data of storage and analyzed, tested wind power station control system is assessed.
CN201410538708.2A 2014-08-06 2014-10-13 Hardware-in-the-loop test platform and test method for wind power plant control system CN104317283A (en)

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CN106569417A (en) * 2016-11-10 2017-04-19 龙源电力集团股份有限公司 Wind driven generator set computer simulation system
CN106610663A (en) * 2015-10-23 2017-05-03 北汽福田汽车股份有限公司 Control method, device and system for strategy operation state
CN106814263A (en) * 2015-11-27 2017-06-09 中国电力科学研究院 A kind of grid-connected detecting system of HWIL simulation and method
CN106842985A (en) * 2017-01-23 2017-06-13 浙江运达风电股份有限公司 Based on software and hardware ring control system of wind turbines method for testing software and device
CN107219776A (en) * 2017-07-01 2017-09-29 南京理工大学 A kind of wind-powered electricity generation virtual reality emulation system based on hardware in loop
WO2018000733A1 (en) * 2016-06-30 2018-01-04 华北电力科学研究院有限责任公司 System and method for hardware-in-the-loop test of subsynchronous resonance of double-fed fan
CN107544456A (en) * 2017-08-22 2018-01-05 中国东方电气集团有限公司 A kind of wind power control system function and information security test system and device based on RTDS
CN109538415A (en) * 2018-09-03 2019-03-29 北京金风科创风电设备有限公司 Virtual blower and virtual wind power plant
CN110262454A (en) * 2019-06-25 2019-09-20 三一重能有限公司 Test macro, the method and device of blower fan control system

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CN106610663A (en) * 2015-10-23 2017-05-03 北汽福田汽车股份有限公司 Control method, device and system for strategy operation state
CN106814263A (en) * 2015-11-27 2017-06-09 中国电力科学研究院 A kind of grid-connected detecting system of HWIL simulation and method
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CN106842985A (en) * 2017-01-23 2017-06-13 浙江运达风电股份有限公司 Based on software and hardware ring control system of wind turbines method for testing software and device
CN106842985B (en) * 2017-01-23 2020-09-22 浙江运达风电股份有限公司 Software testing method and device for wind turbine generator control system based on software and hardware-in-the-loop
CN107219776A (en) * 2017-07-01 2017-09-29 南京理工大学 A kind of wind-powered electricity generation virtual reality emulation system based on hardware in loop
CN107544456A (en) * 2017-08-22 2018-01-05 中国东方电气集团有限公司 A kind of wind power control system function and information security test system and device based on RTDS
CN109538415A (en) * 2018-09-03 2019-03-29 北京金风科创风电设备有限公司 Virtual blower and virtual wind power plant
CN110262454A (en) * 2019-06-25 2019-09-20 三一重能有限公司 Test macro, the method and device of blower fan control system

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