CN104597765A - Semi-physical real-time simulation platform of wind generating set - Google Patents
Semi-physical real-time simulation platform of wind generating set Download PDFInfo
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Abstract
The invention discloses a semi-physical real-time simulation platform of a wind generating set and belongs to the technical field of clean energy. The simulation platform is mainly composed of an upper computer monitoring interface, a wind generating set simulation system, a controller simulation system, a converter controller and a variable-pitch system. An upper computer is connected with the wind generating set simulation system and controller simulation system through Ethernet. The semi-physical real-time simulation platform is capable of quickly developing and verifying a control algorithm under a laboratory environment and simulating the running characteristics of a real wind generating set so that the controller can perform comprehensive closed loop test before performing real machine set test; the test cost is saved, the running safety is improved, and accordingly the output power of a fan can be controlled, the power grid fluctuation is restrained, and a base research platform is provided for the optimized dispatching of a wind power plant.
Description
Technical field
The invention belongs to clean energy technology field, particularly a kind of wind power generating set semi-physical real-time simulation platform.
Background technology
Wind technology is a new and high technology, it relates to tens subjects and the specialties such as meteorology, aerodynamics, structural mechanics, computer technology, electron controls technology, materialogy, chemistry, electromechanical engineering, electrical engineering, environmental science, is a systems technology.The requirement that the polytrope of rugged environment and environment is all very high to the proposition of large-scale wind electricity technology.In addition, the technology of large-scale wind electricity electricity generation grid-connecting also in improving, the development of a series of the problem still exists restriction large-scale wind electricity technology.
Wind-power electricity generation at present most urgent problem is the safety and stability problem of Wind turbines.But, natural wind direction and wind speed are all random variation at any time, although the regulating device of blower fan can according to wind direction and air rate adjustment, but be delayed all the time in speed, the needs that wind turbine steadily generates electricity can not be met completely, thus have influence on the stable of wind turbine output power, time serious, blower fan off-grid will be caused, cause the instability of electrical network, but also likely cause the damage of fan controller and mechanical part to burn.This proposes very high requirement to the control system of Wind turbines, must improve the reliability of control system.And the most effective method of the reliability improving control system is exactly that controller must be tested after design completes.But direct connecting fan carries out testing and not only may damage blower fan, and the state of blower fan under extreme operating condition cannot be tested.Therefore need to build one and the analogue system of Reality simulation fan characteristic can carry out access control device.
The research of wind power generating set semi-physical simulation, main employing two kinds of methods.One method is rapid control prototyping emulation (Rapid control prototyping, RCP), and another method is hardware-in-loop simulation (Hardware-in-the-loop Simulation, HILS).
In rapid control prototyping analogue system (RCP), control algolithm adopts real-time simulation platform to simulate, and all or part of real controlled device participates in test.The method has been widely used in system initial stage, owing to developing conveniently, is easy to the correctness verifying developing way, and the mistake in control algolithm can being developed and impropriety were eliminated in the design initial stage, made Change In Design expense reduce to minimum.
In hardware-in-loop simulation system (HILS), the Real-Time Model of all or part of controlled device high-speed cruising replaced, control system then adopts real controller.Realistic model is connected with tested real controllers by I/O interface, to tested controller carry out in all directions, the test of system, the control strategy of control system, controlling functions and system reliability etc. are tested and assessed, makes controller just can carry out comprehensive closed loop test before carrying out true unit test.
Summary of the invention
The object of this invention is to provide a kind of wind power generating set semi-physical real-time simulation platform, it is characterized in that, this emulation platform is primarily of ipc monitor interface, wind power generating set analogue system, controller simulation system, current-variable controller and pitch-controlled system composition, wherein, host computer is connected with wind power generating set analogue system and controller simulation system respectively by Ethernet; I/O interface is all adopted to connect between wind power generating set analogue system, controller simulation system and current-variable controller, controller simulation system and pitch-controlled system are by Profibus bus communication, and the change oar controller in pitch-controlled system also adopts I/O interface to be connected with pitch motor.
Described wind power generating set analogue system is blower fan hardware-in-loop simulation system, is made up of the mechanical model of blower fan, electrical model and real time operating system; Wherein, real time operating system and embedded real-time operating system, when extraneous event or data produce, can accept and be processed with enough fast speed, the result of its process can make quick response again within official hour, and controls the operating system of the harmonious operation of all real-time tasks.
The mechanical model of described blower fan mainly comprises wind speed, wind turbine and driving-chain.
Described electrical model comprises generator, back-to-back converter, transformer, transmission line of electricity and electrical network.
Described controller simulation system is made up of master control model and real time operating system, and this analogue system is blower fan rapid control prototyping analogue system, the modeling and simulation of primary responsibility master control, driftage, realizes the download checking of different controller model; Controller simulation system carries out exchanges data by I/O interface and wind power generating set analogue system, thus realizes the real-time simulation of whole blower fan system; Controller model analogue system carries out communication by Profibus bus and the PLC of actual change oar controller, regulates propeller pitch angle and monitors pitch-controlled system running status.
The hardware platform of described wind power generating set analogue system and controller simulation system all support low speed, at a high speed, the multiple flexible configuration of bus board and selection, function and the performance of analogue system can be adjusted according to demand flexibly, play the advantage of modularization, plug-in unit, Distributed Design, enable the demand that analogue system is very flexible, meet constantly change.
Described wind power generating set analogue system and controller simulation system support the multi software platforms such as Matlab/Simulink, LabView, StarSim.
Described current-variable controller by control to back-to-back converter, realize the zero load of blower fan, grid-connected and grid-connected after maximum power tracing, meritorious and idle uneoupled control.
The hardware platform of described current-variable controller is the hardware structure of a CPU+FPGA, supports multiple flexible configuration and the selection of low speed, high speed board, can adjust function and the performance of current-variable controller according to demand flexibly.
The invention has the beneficial effects as follows that the wind power generating set semi-physical real-time simulation platform of proposition can be developed and access control algorithm in laboratory environments fast, can the operation characteristic of Reality simulation wind power generating set, make controller just can carry out comprehensive closed loop test before carrying out true unit test; Save testing cost, improve the security run, and the control strategy of blower fan can be optimized, thus the output power of blower fan can be controlled, stabilize power network fluctuation, for wind energy turbine set Optimized Operation provides fundamental research platform.
The mode adopting HILS and RCP to combine due to wind power generating set semi-physical real-time simulation platform is built, therefore platform also has the following advantages:
1) shorten the construction cycle, reduce cost of development;
2) control strategy, system optimizing control is comparatively comprehensively and systematically evaluated;
3) security is higher, nondestructively can carry out the test of the blower fan under extreme condition, controller;
4) open hardware platform, can flexible configuration hardware device.
Accompanying drawing explanation
Fig. 1 is wind power generating set semi-physical real-time simulation platform composition schematic diagram.
Embodiment
The invention provides a kind of wind power generating set semi-physical real-time simulation platform.Below in conjunction with accompanying drawing, more detailed elaboration is carried out to the present invention.
As shown in Figure 1, this emulation platform is primarily of ipc monitor interface, wind power generating set analogue system (i.e. blower fan hardware-in-loop simulation system, WT-HILS), controller simulation system (i.e. blower fan rapid control prototyping analogue system, WT-RCP), inverter controller and pitch-controlled system composition, wherein, host computer is connected with wind power generating set analogue system and controller simulation system respectively by Ethernet; I/O interface is all adopted to connect between wind power generating set analogue system, controller simulation system and current-variable controller, controller simulation system and pitch-controlled system are by Profibus bus communication, and the change oar controller in pitch-controlled system also adopts I/O interface to be connected with pitch motor.Pitch-controlled system adopts real change oar controller and pitch motor.Change oar controller and master control are by Profibus bus communication, and meanwhile, it drives pitch motor to carry out action by PWM, realizes propeller pitch angle change.Respectively various piece is specifically described as follows below:
1. host computer and monitoring interface thereof
The software through pictures such as LabView, Veristand is adopted to develop, can real time monitoring fan operation parameter, comprising: wind speed, wind direction, rotor speed, line voltage, generator rotor current etc., also can carry out real time modifying to wind speed, wind direction.User can also revise the parameter of blower fan by monitoring interface, for simulating the running status of the wind power generating set of different size.
2. wind power generating set analogue system
2.1 blower fan mechanical models
In blower fan initial stage modeling process, first Wind speed model adopts permanent wind speed changing wind direction model.Wind speed size is determined by the air speed value in the monitoring interface of above-mentioned host computer, and user changes wind speed size by air speed value.Wind direction is then determined by the wind direction operation knob in monitoring interface, and user changes wind direction by wind direction operation knob.During for the test controller stage, Wind speed model on the one hand adoptable combination wind speed modeling method simulates wind speed change, can adopt wind energy turbine set SIS data on the other hand, adopts actual wind regime to carry out test macro.Wind turbine is the primary parts of whole wind generator system energy conversion, and it is used for intercepting and capturing the kinetic energy that has of moving air, and the kinetic energy of the portion of air in pneumatic equipment blades windward swept area is converted to useful mechanical energy.Driving-chain is generally made up of the high speed shaft of the slow-speed shaft be connected with wheel hub, gear case and driving generator.Modeling for driving-chain mainly contains two kinds of modes: one is the flexibility considering transmission shaft; One is suppose that axle is rigidity.In replicating machine kinematic train realistic model, should be taken into account flexibility and the damping characteristic of slow-speed shaft, high speed shaft is then assumed to be rigidity.
2.2 blower fan electrical models
Electrical model is built according to the electric topology of double-fed blower fan, comprises generator (induction motor), back-to-back 2 level unsteady flow bridges, transformer, transmission line of electricity, far-end electrical network.Model forms closed-loop system by I/O and current-variable controller interface: model can receive the high speed pwm pulse that current-variable controller sends, the opening of unsteady flow bridge, off state is determined according to pulse, real-time update mathematical model simultaneously, then the quantity of state such as voltage, electric current, motor rotor position of feedback system is to controller.
2.3 real time operating system
Real time operating system, i.e. embedded real-time operating system (Embedded Real-time Operation System, be called for short RTOS), when extraneous event or data produce, can accept and be processed with enough fast speed, the result of its process can make quick response again within official hour, and controls the operating system of the harmonious operation of all real-time tasks.In brief, real time operating system requires must complete corresponding operation at the appointed time.Therefore, real time operating system can provide timely response, has high reliability.
Wind power generating set analogue system adopts the hardware platform with Intel's Core i7 processor and real time operating system, blower fan model runs according to the real time in real time operating system, the authenticity of model running result can be ensured, the reliability of increase system, improves the confidence level of analogue system.
3. controller simulation system
Described controller simulation system comprises master control model and real time operating system, and this analogue system is blower fan rapid control prototyping analogue system, the modeling and simulation of primary responsibility master control, driftage, realizes the download checking of different controller model; Controller simulation system carries out exchanges data by I/O interface and wind power generating set analogue system, thus realizes the real-time simulation of whole blower fan system; Controller model analogue system carries out communication by Profibus bus and the PLC of actual change oar controller, regulates propeller pitch angle and monitors pitch-controlled system running status.
3.1 master control models
The major function of blower fan master controller has: gather wind regime change, as the change of wind speed, wind direction; The running status of monitoring blower fan, optimizes the power stage of unit; According to system optimizing control result, cooperation control is carried out to change oar, unsteady flow; Driftage controls; Fault detect.Driftage controlling functions realizes in master control, and master control calculates position, cabin according to aerovane, and then rotating drives yaw motor running, automatically terminates cable winding.
3.2 real time operating system
Real time operating system, i.e. embedded real-time operating system (Embedded Real-time Operation System, be called for short RTOS), when extraneous event or data produce, can accept and be processed with enough fast speed, the result of its process can make quick response again within official hour, and controls the operating system of the harmonious operation of all real-time tasks.In brief, real time operating system requires must complete corresponding operation at the appointed time.Therefore, real time operating system can provide timely response, has high reliability.
Controller simulation system adopts the hardware platform with Intel's Core i7 processor and real time operating system, master control model runs according to the real time in real time operating system, the authenticity of model running result can be ensured, increase the reliability of system, improve the confidence level of analogue system.
4. current-variable controller
Wind-power generating variable flow control system can realize zero load, grid-connected, and by the method for vector controlled realize grid-connected after maximum power tracing, the functions such as decoupled active and reactive control.Concrete grammar is:
A), after grid-connected, realized motor torque (control of active power) by the control of the current transformer to pusher side (induction electromotor rotor side), and maximum power tracing.
B), after grid-connected, the control of DC bus-bar voltage is realized by the control of the current transformer to net side, and the reactive power exchange of net side converter and electrical network.
Have two controlled circulations in current-variable controller, one is master control circulation, is responsible for maximum power tracing, has the function that decoupled active and reactive controls; Another is pulse generation circulation at a high speed, and primary responsibility controls the generation of the pwm pulse of electronic power conversion bridge.
Owing to needing the pwm pulse of the high speed that FPGA produces to the control of electronic power convertor, the hardware platform of current-variable controller is the hardware structure of a CPU+FPGA, and all I/O carry out data transmission by FPGA.
5. become oar controller
Become the TR-1.5MW variable blade control system that oar controller adopts Hua electricity Tian Ren power control technology company limited.Change oar controller and master control communication adopt Profibus DP communication, communication speed 1.5Mbps.Master control is DP main website, and becoming oar controller is slave station.Master control sends to and becomes the packet that oar is 7WORD, and comprise control word (resetting, heartbeat, auxiliary control), position is given, speed preset etc.Master control receives and becomes the packet that oar is 17WORD, comprises this blade physical location feedback and becomes some monitoring amounts such as oar temperature, voltage, current of electric, speed.
Claims (9)
1. a wind power generating set semi-physical real-time simulation platform, it is characterized in that, this emulation platform is primarily of ipc monitor interface, wind power generating set analogue system, controller simulation system, inverter controller and pitch-controlled system composition, wherein, host computer is connected with wind power generating set analogue system and controller simulation system respectively by Ethernet; I/O interface is all adopted to connect between wind power generating set analogue system, controller simulation system and current-variable controller, controller simulation system and pitch-controlled system are by Profibus bus communication, and the change oar controller in pitch-controlled system also adopts I/O interface to be connected with pitch motor.
2. wind power generating set semi-physical real-time simulation platform according to claim 1, it is characterized in that, described wind power generating set analogue system is blower fan hardware-in-loop simulation system, is made up of the mechanical model of blower fan, electrical model and real time operating system; Wherein, real time operating system and embedded real-time operating system, when extraneous event or data produce, can accept and be processed with enough fast speed, the result of its process can make quick response again within official hour, and controls the operating system of the harmonious operation of all real-time tasks.
3. wind power generating set semi-physical real-time simulation platform according to claim 2, it is characterized in that, the mechanical model of described blower fan mainly comprises wind speed, wind turbine and driving-chain.
4. wind power generating set semi-physical real-time simulation platform according to claim 2, it is characterized in that, described electrical model comprises generator, back-to-back converter, transformer, transmission line of electricity and electrical network.
5. wind power generating set semi-physical real-time simulation platform according to claim 1, it is characterized in that, described controller simulation system is made up of master control model and real time operating system, this analogue system is blower fan rapid control prototyping analogue system, the modeling and simulation of primary responsibility master control, driftage, realizes the download checking of different controller model; Controller simulation system carries out exchanges data by I/O interface and wind power generating set analogue system, thus realizes the real-time simulation of whole blower fan system; Controller model analogue system carries out communication by Profibus bus and the PLC of actual change oar controller, regulates propeller pitch angle and monitors pitch-controlled system running status.
6. wind power generating set semi-physical real-time simulation platform according to claim 1, it is characterized in that, the hardware platform of described wind power generating set analogue system and controller simulation system all support low speed, at a high speed, the multiple flexible configuration of bus board and selection, adjust function and the performance of analogue system in real time flexibly, play the advantage of modularization, plug-in unit, Distributed Design, enable the demand that analogue system is very flexible, meet constantly change.
7. wind power generating set semi-physical real-time simulation platform according to claim 1, is characterized in that, described wind power generating set analogue system and controller simulation system support Matlab/Simulink, LabView and StarSim multi software platform.
8. wind power generating set semi-physical real-time simulation platform according to claim 1, it is characterized in that, described current-variable controller by control to back-to-back converter, realize the zero load of blower fan, grid-connected and grid-connected after maximum power tracing, meritorious and idle uneoupled control.
9. wind power generating set semi-physical real-time simulation platform according to claim 1, it is characterized in that, the hardware platform of described current-variable controller is the hardware structure of a CPU+FPGA, supports multiple flexible configuration and the selection of low speed, high speed board, has the function of adjustment current-variable controller flexibly.
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