CN104865845A - Large-scale wind turbine unit real-time operation control combined simulation platform and construction method thereof - Google Patents
Large-scale wind turbine unit real-time operation control combined simulation platform and construction method thereof Download PDFInfo
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Abstract
The invention provides a large-scale wind turbine unit real-time operation control combined simulation platform and a construction method thereof. According to the method, mechanical part and pneumatic part models of a wind turbine unit are established in Bladed, and an electrical part model of the wind turbine unit is established in RTDS; a built-in hardware test module in the Bladed can guarantee the real-time operation of the Bladed when the performance of a computer is enough; and variable interaction and communication are performed between the Bladed and the RTDS through a PLC; and therefore complete closed-ring control can be realized. The large-scale wind turbine unit real-time operation control combined simulation platform and the construction method thereof of the invention can be used for hardware in-loop testing of a wind turbine main controller and a current converter controller and can be applied to the simulation of new topological structures and complex power grid situations.
Description
Technical field
The present invention relates to technical field of wind power generation, particularly, relate to a kind of large-scale wind electricity unit real time execution and control union simulation platform and construction method thereof.
Background technology
Complete wind-powered electricity generation complete machine runs Controlling model and comprises pneumatic machinery model and electric part model.The pneumatic machinery model adopted in conventional power system simulation software is detailed not.GH Bladed is a professional fan design software for aerodynamic and mechanical calculations, but its electric part model is comparatively simple, cannot take into account current transformer dynamic, and the expansibility of electrical model is poor.
RTDS emulation platform, full name is real-time digital simulator (Real Time Digital Simulator), be a kind of specialized designs for studying the device of Transient Electromagnetic Phenomena in electric system, be relatively applicable to setting up accurate, detailed Wind turbines electric part model.
The real-time union simulation platform of the detailed wind turbine model of still rare consideration at present, Wind turbines mechanical part and pneumatic department pattern is set up in Bladed, the model of Wind turbines electric part is set up in RTDS, mutual and the communication of variable is therebetween realized by PLC, thus the Wind turbines real time execution set up based on RTDS and Bladed controls union simulation platform, the union simulation platform set up can give full play to the two advantage, making complete blower run Controlling model can real time execution, and more detailed, complete.
Current existing associative simulation scheme adopts the associative simulation of Bladed and Matlab, the program adopts Named Pipe Technology, Matlab Engine technical design goes out interactive software, GH Bladed and Matlab can synchronously be emulated aerogenerator, further expand the analytic function of GH Bladed, facilitate the design of peripheral control unit.(see Liu Xinghua, respecting dimension, the interactive software design of Lin Wei .GH Bladed and Matlab and the independent feathering control device simulation study of aerogenerator, Proceedings of the CSEE, 2013, VOL33 (22): 83-90)
But what the shortcoming of above-mentioned prior art was to provide is non real-time union simulation platform, hardware in loop checking cannot be carried out to master control and inverter controller, its electrical model is not still detailed model in addition, accurately cannot describe electro-magnetic transient response, the simulation of novel topological structure and complex electric network situation cannot be applied to.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of large-scale wind electricity unit real time execution and control union simulation platform and construction method thereof, can be used for the hardware-in―the-loop test of blower fan master control and inverter controller, the simulation of novel topological structure and complex electric network situation can be applied to.
For achieving the above object, the present invention is by the following technical solutions:
According to an aspect of the present invention, a kind of large-scale wind electricity unit real time execution is provided to control union simulation platform construction method, described method is: in Bladed, set up Wind turbines mechanical part and pneumatic department pattern, sets up the model of Wind turbines electric part in RTDS (real-time digital simulator); RTDS is real time execution, the hardware test module (GH Hardware Test module) that under the condition that computing power is enough, Bladed is built-in can ensure Bladed real time execution, carry out the mutual and communication of variable by PLC (programmable logic controller (PLC)) between Bladed and RTDS, realize complete closed-loop control.
Preferably, in described method, Bladed carries out communication by the Ethernet network interface of its computing machine carrier and the Ethernet assembly of PLC by the ADS agreement based on TCP/IP; PLC and RTDS carries out communication by respective IO board by analog electrical signal, achieves the real-time both-way communication of whole union simulation platform data.
Further, in described method, communication data stream is: Bladed, hardware test module, be followed successively by two-way flow between PLC, RTDS.Hardware test module, as the hardware interface between Bladed and PLC, can realize the exchanges data between Bladed and PLC; By respective AO, AI interconnection between RTDS and PLC, carry out communication by analog electrical signal.
Preferably, in described method, closed-loop control is: the model of complete driving-chain is based upon in Bladed at (comprising the equation of motion of generator amature), and after the generator real-time rotate speed ω g in Bladed passes to RTDS by PLC, the rotating speed directly as generator in RTDS inputs; In RTDS, the real-time torque Tg of generator passes to Bladed by communication, directly as generator torque current in Bladed, thus forms complete closed-loop control.
According to an aspect of the present invention, a kind of large-scale wind electricity unit real time execution is provided to control union simulation platform, described platform comprises the computing machine, real-time digital simulator (RTDS) and the programmable logic controller (PLC) (PLC) that are provided with Bladed software, wherein:
The described computing machine being provided with Bladed software, for setting up Wind turbines mechanical part and pneumatic department pattern in Bladed; Hardware test module (GH Hardware Test module) is carried in described Bladed software, hardware test module ensures Bladed real time execution, and be integrated with multiple kinds, it is the interface of Bladed and miscellaneous equipment exchanges data, by means of GH Hardware Test module, Bladed and PLC communication also finally realizes and RTDS communication;
Described real-time digital simulator (RTDS), for setting up model and the current transformer of Wind turbines electric part and becoming oar Controlling model, its supporting GTAO and GTAI board is also finally realized and RTDS communication by analog electrical signal and PLC communication;
Described PLC is used for communication, and data-signal ADS agreement being passed the Bladed come is converted into analog electrical signal PLC AO card passing through and demarcates, and analog electrical signal PLC AI clamping being received the demarcation obtained is converted into data-signal;
Above-mentioned RTDS is real time execution, the hardware test module that under the condition that computing power is enough, Bladed is built-in can ensure Bladed real time execution, mutual and the communication of real-time variable is carried out by PLC between Bladed and RTDS, realize complete closed-loop control, and whole platform is real time execution.
Preferably, described in the computing machine of Bladed software is installed, wherein Bladed software comprises two parts:
Bladed calculates primary module, and it comprises built-in Wind speed model and pneumatic and mechanical part model, and pneumatic and mechanical part model comprises pneumatic equipment blades, wind energy conversion system aerodynamic model, actuation system models and the mechanical part model such as pylon, cabin;
The GH Hardware Test module that Bladed carries, the Ethernet network interface that this module can call computing machine carries out communication, between the Ethernet network interface of computing machine Ethernet network interface and PLC by netting twine and switch interconnected, and to communicate in the mode of the Twincat ADS agreement based on TCP/IP.
Further, following basic communication variables is at least comprised between described GH Hardware Test module and PLC: the given β of propeller pitch angle
*the real-time torque T of (from PLC to Bladed), generator
g(from PLC to Bladed), generator real-time rotate speed ω
g(from Bladed to PLC), wind speed V
w(from Bladed to PLC), electromotive power output P (from Bladed to PLC).It should be noted that, above variable forms the basic variable needed for union simulation platform, can increase other communication variables when having special applications to need.
Preferably, the elementary stream of described Bladed inside is to being: the propeller pitch angle instruction β that GH Hardware Test module communication interface receives from PLC
*pass to the pneumatic equipment blades that Bladed calculates primary module, the real-time torque T of generator that GH Hardware Test module communication interface receives from PLC
gpass to the generator mass that Bladed calculates actuation system models in primary module, GH Hardware Test module receives the wind speed V calculating primary module from Bladed
w, electromotive power output P and generator real-time rotate speed ω
g, the data-signal received reaches PLC by ADS communications protocol, by PLC, data-signal is converted into analog electrical signal and RTDS communication.
Further, described RTDS comprises three parts:
Electric part main circuit, comprises generator, current transformer and protection circuit thereof, wave filter, transformer, circuit, electric network model; This electric part main circuit is used for the electric part of real simulation Wind turbines, electric part main circuit pay close attention to the electric current of Nodes, voltage signal can for gathering and passing to current transformer and become oar control module, the current transformer simultaneously in main circuit and protection circuit thereof receive the pwm pulse signal provided from current transformer and change oar control module; It should be noted that, main circuit of the present invention does not limit generator type and converter topologies;
Current transformer and become oar control module is the control module of union simulation platform, and this module provides pwm pulse signal for the current transformer in RTDS main circuit and protection circuit thereof, and provides propeller pitch angle command signal for the pneumatic equipment blades in Bladed;
Simulation with I O interface, the GTAO (analog output) that namely RTDS is supporting and GTAI (analog input) board, it is responsible for electric part main circuit and current transformer and becomes between oar control module and PLC carrying out communication by analog electrical signal.
Preferably, described GTAO (analog output) and GTAI (analog input) carries out communication by the AI card of PLC and the I/O port of AO card between board and PLC, at least comprises following basic communication variables between RTDS and PLC: the given β of propeller pitch angle
*the real-time torque T of (from RTDS to PLC), generator
g(from RTDS to PLC), generator real-time rotate speed ω
g(from PLC to RTDS), wind speed V
w(from PLC to RTDS), electromotive power output P (from PLC to RTDS).It should be noted that, above variable forms the basic variable needed for union simulation platform, can increase other communication variables when having special applications to need.
Preferably, the master data of RTDS inside flows to and is: the generator real-time rotate speed ω that GTAI receives from PLC
gpass to the generator model in RTDS and input as it, the real-time torque T of the generator that in RTDS, generator obtains
gthe AI card of PLC is reached by GTAO; Current transformer and become oar control module and receive following signal: 1. with the electric signal from RTDS electric part main circuit (mainly comprising set end voltage signal, rotor current signal, grid side converter output current signal) that the reometer of RTDS inside, voltage table collect; The wind speed V that 2.GTAI receives from PLC
w, generator real-time rotate speed ω
gwith electromotive power output P.Current transformer and change oar control module carry out computing according to these data received and the control algolithm adopted, and export the propeller pitch angle instruction of pneumatic equipment blades and the pwm pulse for current transformer in control RTDS (also comprising its protection circuit) in Bladed.
In associative simulation implementation procedure of the present invention, data are transmitted in real time, and wherein elementary stream is to being generator real-time rotate speed ω in Bladed
gafter passing to RTDS by PLC, the rotating speed directly as generator in RTDS inputs; The real-time torque T of generator in RTDS
gpass to Bladed directly as generator torque current in Bladed by communication, thus form complete closed-loop control.
Compared with prior art, the present invention has following beneficial effect:
The present invention is real-time simulation platform, adopt the guarantee that the supporting GH Hardware Test module of Bladed software calculates in real time as Bladed, and electric part model is being based upon in RTDS, to realize the full dynamic real-time simulator of whole wind power system, and can be used for blower fan master control and inverter controller at ring test instrument.Electric part model expansibility is strong, can apply the simulation of novel topological structure and complex electric network situation.Present invention employs more in detail and the higher electric part model of expansibility, the different main circuit topology of simulation can be expanded, the running of wind generating set of different converter control strategy controls.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is union simulation platform communication part block diagram in one embodiment of the invention;
Fig. 2 is the closed-loop control part block diagram of associative simulation in one embodiment of the invention;
Fig. 3 is whole platform structure block diagram in one embodiment of the invention.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 3, the Constructed wetlands of union simulation platform is: in Bladed, set up Wind turbines mechanical part and pneumatic department pattern, set up the model of Wind turbines electric part in RTDS.RTDS is real time execution, and the GH Hardware Test module that under the condition that computing power is enough, Bladed is built-in can ensure its real time execution, carries out the mutual and communication of variable, realize complete closed-loop control between Bladed and RTDS by PLC.
The design of union simulation platform overall building comprises the design of communication scheme design and closed-loop control system.
As shown in Figure 1, the communication part of whole union simulation platform achieves the real-time both-way communication of data.As shown in the figure, primary communications mode is that Bladed carries out communication by the Ethernet network interface of its computing machine carrier and the Ethernet assembly of PLC by the ADS agreement based on TCP/IP to the communication scheme schematic diagram that the present invention adopts; PLC and RTDS carries out communication by respective IO board by analog electrical signal.
The form of communication plan data stream is described below:
wherein four-headed arrow represents that data are two-way flows.Hardware Test module, as the hardware interface between Bladed and PLC, can realize the exchanges data between Bladed and PLC; By respective AO, AI interconnection between RTDS and PLC, carry out communication by analog electrical signal.
Under the cooperation of above-mentioned communication scheme, whole Close-loop Control System Design is: the model of complete driving-chain is based upon in Bladed at (comprising the equation of motion of generator amature), rotating speed directly as generator in RTDS after generator real-time rotate speed ω g in Bladed passes to RTDS by PLC inputs, in RTDS, generator real-time torque Tg passes to Bladed directly as generator torque current in Bladed by communication, thus form complete closed-loop control, as shown in Figure 2.
As one preferably, in associative simulation implementation procedure, consider convenience and the dirigibility of change control algorithm, master controller is integrated in RTDS, it receives the signal such as wind speed, rotating speed from Bladed, and according to the variable collected in electric part model in RTDS, adopt certain control algolithm, realize the control becoming oar and current transformer.
As shown in Figure 3, the union simulation platform built in one embodiment of the invention, its formation comprises: the Windows operating system computing machine being provided with Bladed software (with GH Hardware Test module), RTDS real-time simulation instrument and Beckhoff PLC, in addition Windows operating system computing machine network interface with advise between PLC network interface being connected by switch.
The described computing machine being provided with Bladed software, for setting up Wind turbines mechanical part and pneumatic department pattern in Bladed; Hardware test module (GH Hardware Test module) is carried in described Bladed software, hardware test module ensures Bladed real time execution, and be integrated with multiple kinds, it is the interface of Bladed and miscellaneous equipment exchanges data, by means of GH Hardware Test module, Bladed and PLC communication also finally realizes and RTDS communication.
Described real-time digital simulator (RTDS), for setting up model and the current transformer of Wind turbines electric part and becoming oar Controlling model, its supporting GTAO and GTAI board is also finally realized and RTDS communication by analog electrical signal and PLC communication;
Described PLC is mainly used in communication, only need to write basic communication program, contents of program is that data-signal ADS agreement being passed the Bladed come is converted into analog electrical signal PLC AO card passing through and demarcates, and analog electrical signal PLC AI clamping being received the demarcation obtained is converted into data-signal.
Mainly two parts are comprised in Bladed:
1, Bladed calculates primary module, and it comprises built-in Wind speed model and pneumatic and mechanical part model, and pneumatic and mechanical part model comprises wind energy conversion system aerodynamic model, actuation system models and the mechanical part model such as pylon, cabin;
2, the GH Hardware Test module that carries of Bladed, the Ethernet network interface that GH Hardware Test module can call computing machine carries out communication, between the Ethernet network interface of computing machine Ethernet network interface and PLC by netting twine and switch interconnected, and to communicate in the mode of the Twincat ADS agreement based on TCP/IP.
Following basic communication variables is at least comprised: the given β of propeller pitch angle between GH Hardware Test module and PLC
*the real-time torque T of (from PLC to Bladed), generator
g(from PLC to Bladed), generator real-time rotate speed ω
g(from Bladed to PLC), wind speed V
w(from Bladed to PLC), electromotive power output P (from Bladed to PLC).It should be noted that, above variable forms the basic variable needed for union simulation platform, other communication variables can being increased when having special applications to need, controlling to need to increase load (from Bladed to PLC) and three independently propeller pitch angle instructions (from PLC to Bladed) of each propeller shank as realized Wind turbines asynchronous change oar.
Three parts are mainly comprised in RTDS:
1, electric part main circuit, comprises generator, current transformer and protection circuit thereof, wave filter, transformer, circuit, electric network model;
2, current transformer and change oar control module;
3, Simulation with I O interface, the GTAO (analog output) that namely RTDS is supporting and GTAI (analog input) board, it is responsible for carrying out communication by analog electrical signal between PLC.
Carry out communication by the AI card of PLC and the I/O port of AO card between GTAO and GTAI and PLC, between RTDS and PLC, at least comprise following basic communication variables: the given β of propeller pitch angle
*the real-time torque T of (from RTDS to PLC), generator
g(from RTDS to PLC), generator real-time rotate speed ω
g(from PLC to RTDS), wind speed V
w(from PLC to RTDS), electromotive power output P (from PLC to RTDS).It should be noted that, above variable forms the basic variable needed for union simulation platform, other communication variables can being increased when having special applications to need, needing to increase load (from PLC to RTDS) and three independently propeller pitch angle instructions (from RTDS to PLC) of each propeller shank as realized Wind turbines asynchronous change oar.
The elementary stream of Bladed inside is to being the propeller pitch angle instruction β that GH Hardware Test module communication interface receives from PLC
*pass to the pneumatic equipment blades that Bladed calculates primary module, the real-time torque T of generator that GH Hardware Test module communication interface receives from PLC
gpass to the generator mass that Bladed calculates actuation system models in primary module, GH Hardware Test module receives the wind speed V from the main simulated program of Bladed
w, electromotive power output P and generator real-time rotate speed ω
g, the data-signal received reaches PLC by ADS communications protocol, by PLC, data-signal is converted into analog electrical signal and RTDS communication.
It is the generator real-time rotate speed ω that GTAI receives from PLC that the master data of RTDS inside flows to
gpass to the generator model in RTDS and input as it, the real-time torque T of the generator that in RTDS, Generator test obtains
gthe AI card of PLC is reached by GTAO.Current transformer and become oar control module and receive following signal: 1. with the electric signal from RTDS electric part main circuit (mainly comprising set end voltage signal, rotor current signal, grid side converter output current signal) that the reometer of RTDS inside, voltage table collect; The wind speed V that 2.GTAI receives from PLC
w, generator real-time rotate speed ω
gwith electromotive power output P.Current transformer and change oar control module carry out computing according to these signals received and the control algolithm adopted, and export the propeller pitch angle instruction of pneumatic equipment blades and the pwm pulse for current transformer in control RTDS (also comprising its protection circuit) in Bladed.
In associative simulation implementation procedure, data are transmitted in real time, and wherein elementary stream is to being generator real-time rotate speed ω in Bladed
grotating speed directly as generator in RTDS after passing to RTDS by PLC inputs, the real-time torque T of generator in RTDS
gpass to Bladed directly as generator torque current in Bladed by communication, thus form complete closed-loop control.
In the present embodiment, the above dominant frequency of Windows operating system computer configuration requirement double-core 3.0GHz, and with correct, the Ethernet network interface driven is installed.RTDS requires that GPC card meets computation requirement (according to actual conditions), and is furnished with at least one piece of GTAO board and one piece of GTAI board.PLC requires to be furnished with Ethernet assembly, at least one piece of analog input board and one piece of analog output boards (quantity according to the actual requirements).In order to take into account real time execution and the operational precision of Bladed in associative simulation, the computing machine that Bladed software is installed in suggestion adopts multi-core CPU, and dominant frequency is greater than 3.0GHz, simulation step length suggestion is chosen for 0.005 ~ 0.01s, and the suggestion of communication time interval is taken as 0.005 ~ 0.01s.
PLC needs to write basic communication program, contents of program is that data-signal ADS agreement being passed the Bladed come is converted into analog electrical signal PLC AO card passing through and demarcates, and analog electrical signal PLC AI clamping being received the demarcation obtained is converted into data-signal.
When the above-mentioned union simulation platform of the present invention is used for associative simulation, the boot sequence of associative simulation is as follows:
1st step: PLC downloads communication program and the operation that powers on;
2nd step: provide the rotating speed of generator to input by RTDS inside and run RTDS emulation, the generator speed value that wherein RTDS inside provides is chosen for the Generator Stable rotating speed in Bladed corresponding to wind speed;
3rd step: after RTDS is stable, runs GH Hardware Test;
4th step: after GH Hardware Test is stable, switches to the input of the rotating speed of RTDS and is provided by Bladed.
Can enter steady state (SS) through associative simulation after a period of time, so far associative simulation has started, and can carry out the complexity test that union simulation platform is follow-up.
After union simulation platform has started, the mutual variable defined in associative simulation has been all real-time communication.For the mechanical-electric coupling test under electric network fault, electric network fault is triggered by the button control in RTDS, this electric network fault can excite electro-magnetic transient respond and have an impact to generator electromagnetic torque, this electromagnetic torque real-time response reaches PLC by GTAO and finally reaches the generator mass in Bladed, and the pneumatic and mechanical part model in Bladed is had an impact, the impact that pneumatic and mechanical part model in Bladed produces also also can be had an impact to electromagnetic torque by real-time the feeding back in RTDS of communication further, so constitute complete mechanical-electric coupling test.
After completing emulation, can data be preserved at GH Hardware Test human window, and analyze in Bladed software.
The present invention proves feasible through simulation.That adopt in simulation process is the PLC of Beckhoff CX1100 model, and Bladed simulation step length is chosen for 0.01s, and communication time interval is taken as 0.01s, well achieve the simulation run under Static and dynamic, and operation result is correct.
Circuit structure in the above embodiment of the present invention in RTDS is for double-fed unit, and in fact the present invention does not limit the generator type of wind power generating set, and change generator type still belongs to category of the present invention.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (13)
1. large-scale wind electricity unit real time execution controls a union simulation platform construction method, it is characterized in that: in Bladed, set up Wind turbines mechanical part and pneumatic department pattern, set up the model of Wind turbines electric part in RTDS; RTDS is real time execution, and hardware test module that under the condition that computing power is enough, Bladed is built-in ensures Bladed real time execution, carries out the mutual and communication of variable, realize complete closed-loop control between Bladed and RTDS by PLC.
2. large-scale wind electricity unit real time execution according to claim 1 controls union simulation platform construction method, it is characterized in that, described Bladed carries out communication by the Ethernet network interface of its computing machine carrier and the Ethernet assembly of PLC based on the ADS agreement of TCP/IP; PLC and RTDS carries out communication by respective IO board by analog electrical signal, achieves the real-time both-way communication of whole union simulation platform data.
3. large-scale wind electricity unit real time execution according to claim 2 controls union simulation platform construction method, and it is characterized in that, communication data stream is: Bladed, hardware test module, be followed successively by two-way flow between PLC, RTDS; Hardware test module, as the hardware interface between Bladed and PLC, realizes the exchanges data between Bladed and PLC; By respective AO, AI interconnection between RTDS and PLC, carry out communication by analog electrical signal.
4. large-scale wind electricity unit real time execution according to claim 1 controls union simulation platform construction method, and it is characterized in that, closed-loop control is: the model of complete driving-chain is based upon in Bladed, the generator real-time rotate speed ω in Bladed
gafter passing to RTDS by PLC, the rotating speed directly as generator in RTDS inputs; The real-time torque T of generator in RTDS
gpass to Bladed by communication, directly as generator torque current in Bladed, thus form complete closed-loop control.
5. the large-scale wind electricity unit real time execution according to any one of claim 1-4 controls union simulation platform construction method, it is characterized in that, in associative simulation implementation procedure, consider convenience and the dirigibility of change control algorithm, be integrated in by master controller in RTDS, it receives wind speed, tach signal from Bladed, and according to the variable collected in electric part model in RTDS, adopt control algolithm, realize the control becoming oar and current transformer.
6. large-scale wind electricity unit real time execution controls a union simulation platform, and it is characterized in that, described platform comprises the computing machine, RTDS and PLC that are provided with Bladed software, wherein:
The described computing machine being provided with Bladed software, for setting up Wind turbines mechanical part and pneumatic department pattern in Bladed; Hardware test module is carried in described Bladed software, hardware test module ensures Bladed real time execution, and is integrated with multiple kinds, is the interface of Bladed and miscellaneous equipment exchanges data, by means of hardware test module, Bladed and PLC communication also finally realizes and RTDS communication;
Described RTDS, for setting up model and the current transformer of Wind turbines electric part and becoming oar Controlling model, its supporting GTAO and GTAI board is also finally realized and RTDS communication by analog electrical signal and PLC communication;
Described PLC is used for the communication of whole platform, and data-signal ADS agreement being passed the Bladed come is converted into analog electrical signal PLCAO card passing through and demarcates, and analog electrical signal PLC AI clamping being received the demarcation obtained is converted into data-signal;
Above-mentioned RTDS is real time execution, the hardware test module that under the condition that computing power is enough, Bladed is built-in ensures Bladed real time execution, carry out the mutual and communication of real-time variable by PLC between Bladed and RTDS, realize complete closed-loop control, and whole platform is real time execution.
7. large-scale wind electricity unit real time execution according to claim 6 controls union simulation platform, it is characterized in that, described in the computing machine of Bladed software is installed, wherein Bladed software comprises two parts:
Bladed calculates primary module, and it comprises built-in Wind speed model and pneumatic and mechanical part model, and pneumatic and mechanical part model comprises pneumatic equipment blades, wind energy conversion system aerodynamic model, actuation system models, and mechanical part model comprises pylon, engine room model;
The hardware test module that Bladed carries, the Ethernet network interface that this module can call computing machine carries out communication, between the Ethernet network interface of computing machine Ethernet network interface and PLC by netting twine and switch interconnected, and to communicate in the mode of the TwincatADS agreement based on TCP/IP.
8. large-scale wind electricity unit real time execution according to claim 7 controls union simulation platform, it is characterized in that, at least comprises following basic communication variables between described hardware test module and PLC:
The given β of propeller pitch angle
*, this variable passes to Bladed from PLC;
The real-time torque T of generator
g, this variable passes to Bladed from PLC;
Generator real-time rotate speed ω
g, this variable passes to PLC from Bladed;
Wind speed V
w, this variable passes to PLC from Bladed;
Electromotive power output P, this variable passes to PLC from Bladed.
9. large-scale wind electricity unit real time execution according to claim 8 controls union simulation platform, and it is characterized in that, the elementary stream of described Bladed inside is to being:
The propeller pitch angle instruction β that hardware test module communication interface receives from PLC
*pass to the pneumatic equipment blades that Bladed calculates primary module;
The real-time torque T of generator that hardware test module communication interface receives from PLC
gpass to the generator mass that Bladed calculates actuation system models in primary module;
Hardware test module receives the wind speed V calculating primary module from Bladed
w, electromotive power output P and generator real-time rotate speed ω
g, the data-signal received reaches PLC by ADS communications protocol, by PLC, data-signal is converted into analog electrical signal and RTDS communication.
10. large-scale wind electricity unit real time execution according to claim 6 controls union simulation platform, and it is characterized in that, described RTDS comprises three parts:
Electric part main circuit, comprises generator, current transformer and protection circuit thereof, wave filter, transformer, circuit, electric network model; This electric part main circuit is used for the electric part of real simulation Wind turbines; Described electric part main circuit pay close attention to the electric current of Nodes, voltage signal can for gathering and passing to current transformer and become oar control module, the current transformer simultaneously in main circuit and protection circuit thereof receive the pwm pulse signal provided from current transformer and change oar control module;
Current transformer and become oar control module, this module is the control module of union simulation platform, for the current transformer in electric part main circuit and protection circuit thereof provide pwm pulse signal, and provides propeller pitch angle command signal for the pneumatic equipment blades in Bladed;
Simulation with I O interface, the analog output that namely RTDS is supporting and analog input card, be responsible for electric part main circuit and current transformer and become between oar control module and PLC carrying out communication by analog electrical signal.
11. large-scale wind electricity unit real time executions according to claim 10 control union simulation platform, it is characterized in that, described analog output and carry out communication by the AI card of PLC and the I/O port of AO card between analog input card and PLC, at least comprises following basic communication variables between RTDS and PLC:
The given β of propeller pitch angle
*, this variable passes to PLC from RTDS;
The real-time torque T of generator
g, this variable passes to PLC from RTDS;
Generator real-time rotate speed ω
g, this variable passes to RTDS from PLC;
Wind speed V
w, this variable passes to RTDS from PLC;
Electromotive power output P, this variable passes to RTDS from PLC.
12. large-scale wind electricity unit real time executions according to claim 11 control union simulation platform, it is characterized in that, the master data of described RTDS inside flows to and is:
The generator real-time rotate speed ω that analog input card receives from PLC
gpass to the generator model in RTDS and input as it, the real-time torque T of the generator that in RTDS, generator obtains
gthe AI card of PLC is reached by analog output card;
Current transformer and become oar control module and receive following signal: the electric signal from RTDS electric part main circuit collected with the reometer of RTDS inside, voltage table, comprises set end voltage signal, rotor current signal, grid side converter output current signal; The wind speed V that analog input card receives from PLC
w, generator real-time rotate speed ω
gwith electromotive power output P; Current transformer and change oar control module carry out computing according to these data received and the control algolithm adopted, and export the propeller pitch angle instruction of pneumatic equipment blades and the pwm pulse for current transformer and protection circuit thereof in control RTDS in Bladed.
13. large-scale wind electricity unit real time executions according to any one of claim 6-12 control union simulation platform, it is characterized in that, described union simulation platform is in associative simulation implementation procedure, and data are transmitted in real time, and wherein elementary stream is to being generator real-time rotate speed ω in Bladed
gafter passing to RTDS by PLC, the rotating speed directly as generator in RTDS inputs; The real-time torque T of generator in RTDS
gpass to Bladed directly as generator torque current in Bladed by communication, thus form complete closed-loop control.
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