CN111859649B - Wind turbine generator transmission chain ground test working condition establishment method based on virtual simulation - Google Patents
Wind turbine generator transmission chain ground test working condition establishment method based on virtual simulation Download PDFInfo
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Abstract
A wind turbine generator system transmission chain ground test working condition establishment method based on virtual simulation comprises the steps of firstly calculating load of a tested wind turbine generator system, and extracting and converting six-degree-of-freedom load on a transmission chain. Further, a rigid-flexible coupling dynamic model of the transmission chain ground test platform is established, and the extracted and converted six-degree-of-freedom load of the transmission chain is used as the external load input of the dynamic model of the transmission chain ground test platform. And finally, carrying out virtual ground test simulation of the transmission chain, analyzing influence mechanisms of different external loads on dynamic characteristics of the transmission chain system and key components thereof based on simulation results, and establishing ground test working conditions.
Description
Technical Field
The invention relates to a method for establishing ground test working conditions of a transmission chain of a wind turbine.
Background
The wind turbine generator system transmission chain mainly comprises a main shaft, a gear box, a generator and the like, and is a core part of the wind turbine generator system. In recent years, high-power wind turbine generators are rapidly developed, the running environment of the high-power wind turbine generators is complex and severe, and higher requirements are put forward for the test work of the high-power wind turbine generators, especially the transmission chain part, in order to ensure the stable and reliable running of the high-power wind turbine generators. In recent years, the ground test of the transmission chain is widely valued and relied on at home and abroad, and by developing the ground test, a controllable test environment can be provided for the research and development design and performance evaluation of the wind turbine generator, so that design problems and potential safety hazards can be found early, technical risks are reduced, the research and development period is shortened, and the quality and reliability of the transmission chain are improved.
Before the ground test of the transmission chain is carried out, reasonable and effective ground test working conditions are required to be established aiming at test contents and test objects so as to realize efficient and safe test working condition simulation and loading and obtain expected test results. Because the operation working condition of the transmission chain is complex, the influence mechanism of different operation working conditions on the dynamic characteristics of the transmission chain and key components thereof needs to be ascertained so as to provide effective theoretical support and guidance for the establishment of ground test working conditions.
In recent years, related researches have been carried out on the method for establishing the ground test working condition of the wind turbine generator in China. For example, li Guoyun (Li Guoyun, qin Da, et al, analysis of wind turbine gearbox accelerated fatigue test technique [ J ]. Chongqing university journal 2009,32 (11): 1252-1256) an accelerated fatigue test load spectrum was studied and proposed to verify the fatigue reliability of wind turbine gearboxes. Xu Fang (Xu Fang, zhou Zhigang. Wind power speed increasing box test load spectrum based on random wind speed model is compiled [ J ]. Mechanical transmission 2015,39 (8): 172-175), and on the basis of simulating real wind speed, dynamic characteristics and fatigue life test load spectrum of a gear transmission system of the wind turbine generator are compiled. At present, the research developed in China mainly aims at the method for establishing the torque load spectrum of the gearbox part of the wind turbine, and the research of the method for establishing the complete test working condition of the transmission chain system of the wind turbine is blank.
Disclosure of Invention
The invention aims to make up the defects of the prior art and provides a wind turbine generator transmission chain ground test working condition establishment method based on virtual simulation. The test condition establishing method provided by the invention can provide technical support for the ground test which is actually carried out, effectively improve the test efficiency, shorten the test period and reduce the test risk and the test cost.
The invention adopts the following technical scheme:
according to the method for establishing the ground test working condition of the transmission chain, firstly, load calculation of the tested wind turbine generator is carried out, and six-degree-of-freedom load on the transmission chain is extracted and converted. Further, a rigid-flexible coupling dynamics model of the transmission chain ground test system is established, and main components of the dynamics model comprise: dragging and simulating components such as a dragging motor, a five-degree-of-freedom non-torque load loading device and the like, tested transmission chain components and the like, and taking the extracted and converted six-degree-of-freedom load of the transmission chain as the external load input of the dynamic model of the transmission chain ground test platform. And finally, carrying out virtual ground test simulation of the transmission chain, analyzing influence mechanisms of different external loads on dynamic characteristics of the transmission chain system and key components thereof based on simulation results, and establishing ground test working conditions.
The wind turbine generator load calculation and load extraction and conversion are carried out by firstly establishing a complete machine simulation model of the wind turbine generator, wherein the simulation model consists of a pneumatic model, a generator dynamics model and an electric and control model. The pneumatic model is used for calculating the pneumatic load of the tested unit and is used as the front end input of the unit dynamics model; the machine set dynamics model consists of an impeller, a tower, a transmission chain and other parts, and is used for simulating the motion characteristic and the load characteristic of the transmission chain and simulating the high-speed end angular speed omega of the transmission chain g Outputting to an electric and control model; the electric and control model feeds back the pitch angle beta and the electromagnetic torque T e And performing pitch control and generator torque control on the unit.
The aerodynamic model of the unit is built based on a phyllin-momentum theory, and aerodynamic force and aerodynamic moment on the ith blade are as follows:
wherein F is xi ，F yi The method comprises the steps that aerodynamic force along a blade rotation coordinate system X and a Y on an ith blade is obtained, the blade rotation coordinate system X is along the direction of a wind wheel rotation axis, the Z is directed to a wing tip along the direction of a blade pitch axis, and the Y is determined by a right hand rule; m is M xi ，M yi Aerodynamic moments along a blade rotation coordinate system X and Y axes on the ith blade respectively; r is the root radius, R is the impeller radius; ρ is the air density; w is the synthetic wind speed; c (C) l And C d Respectively the leavesLift coefficient and drag coefficient of the sheet, C l And C d The numerical magnitude is related to the pitch angle variable beta;is the blade lift angle; l is the chord length of the airfoil, r 1 Is an integral variable.
The unit dynamics model is built based on a Kane (Kane) method, and comprises the following steps: impeller, tower, drive chain, etc., wherein the flexible components such as blades and towers are reduced in degree of freedom and calculated in elastic deformation by adopting a hypothetical mode method. The degree of freedom of the whole machine set is set to 15, and 15 generalized coordinates q are defined 1 ，q 2 ，…，q 15 Generalized rate u 1 ，u 2 …，u 15 The motion of the machine set is described, and the generalized velocity is the linear combination of generalized coordinate derivatives. The complete machine dynamics equation is established as follows:
F a +f a * ＝0，a＝1,2,…,15
wherein F is a And F a * The generalized main power and the generalized inertial force corresponding to each generalized velocity are respectively shown, and a is the generalized main power and the generalized inertial force serial number. Generalized active force F a And generalized inertial force F a * The specific expression of (2) is:
wherein p is the number of components in the unit; i is a component serial number; f (F) i And T i The main power and torque acting on the ith component, respectively, include: gravity, aerodynamic force, elastic force, torque, etc.; v a (q,t) i And omega a (q,t) i The ith yaw rate and yaw rate of the component in the reference frame, respectively, are defined by the generalized velocity u r Obtaining; f (F) *i And T *i Respectively are provided withFor inertial forces and moments of inertia acting on the ith component. The system dynamics equation is solved to obtain the unit load and motion response, wherein the unit load and motion response comprises a transmission chain main shaft torque load T and a transmission chain axial thrust load F x Radial force load F of transmission chain y And F z Moment load M of transmission chain y And M z And generator angular velocity omega g 。
The tested unit electric and control model mainly comprises a generator torque control model and a variable pitch control model. Wherein, the generator torque control carries out electromagnetic torque setting according to a rotating speed-torque curve, and when the rotating speed of the generator does not reach the rated rotating speed, the electromagnetic torque of the generator is given value T e The method comprises the following steps:
wherein ρ is the air density; r is the radius of the impeller; g is the transmission ratio of the gear box; c (C) Pmax Is the maximum power factor; lambda (lambda) opt Is the optimal tip speed ratio; omega g Is the generator speed.
When the rotating speed of the generator reaches the rated rotating speed, the torque and the rotating speed are kept constant by adjusting the pitch angle, and at the moment, the electromagnetic torque of the generator is given a value T e The method comprises the following steps:
T e ＝T rate
wherein T is rate And rated torque of the generator of the tested unit is obtained.
The unit variable pitch control adopts a PI control strategy, a pitch angle instruction output by PI control is sent to a variable pitch system to execute a variable pitch action, and the dynamic characteristic of the variable pitch system is represented by a first-order system with time delay:
wherein beta is * Setting a pitch angle; beta is the actual value of the pitch angle; τ β Is the time constant of the pitch mechanism; t (T) D Is the total time delayAnd (3) the room(s). e is the base of natural logarithm; s is a complex variable.
The load calculation and load extraction of the wind turbine are performed based on a complete machine simulation model of the wind turbine. The load calculation simulation working condition is defined according to The International Electrotechnical Commission 61400-1 standard (Edition 4.0 2019-02), and meanwhile, the measured wind speed of the tested unit operation site is referred to, so that wind speed parameters such as wind shear, turbulence intensity and the like are corrected. And after load calculation under all working conditions is finished, extracting six-degree-of-freedom limit load and fatigue load spectrums on the transmission chain, and six-degree-of-freedom load spectrums of the transmission chain under key running states such as starting, stopping, power failure of a power grid, power grid faults and the like of the unit. Carrying out rain flow counting on the six-degree-of-freedom fatigue load spectrum to obtain a load-frequency statistical result, and carrying out equivalent fatigue load calculation, wherein the calculation formula is as follows:
wherein L is equi Is equivalent fatigue load; s is S i For the load amplitude after rain flow counting, n i For amplitude S i Load cycle times of (a); m is the slope of the S-N curve of the material; t is t equi The equivalent fatigue load acting time; f (f) equi Is the equivalent load acting frequency.
In the ground test, the equivalent payload acting time and the equivalent payload frequency can be converted according to the test time and the load loading capacity of the test platform, and the conversion formula is as follows:
t 1 f 1 ＝t equi f equi
wherein t is 1 For the test time, f 1 The test platform is loaded with frequency.
The wind turbine generator load conversion is to convert the extracted six-degree-of-freedom load of the transmission chain into a six-degree-of-freedom load suitable for loading of a ground test platform. The basic conversion formula of the torque load on the transmission chain under the dynamic running of the unit is as follows:
wherein T is * Simulating loading torque for the test platform; t is the torque of a transmission chain of the tested unit; j (J) d Dragging the moment of inertia of the simulation end for the test platform; omega is the angular velocity of the impeller of the tested unit; t is a time variable.
The five-degree-of-freedom non-torque load of the transmission chain is simulated and loaded through a five-degree-of-freedom non-torque load loading device on the ground test platform, and the five-degree-of-freedom non-torque load conversion is carried out according to the number of loading load components on the load loading device, the geometric dimension of a loading disc, the distribution position of a hydraulic cylinder and the like, wherein a basic conversion formula is as follows:
wherein F is Ap Loading a load component for the p-th load on the test platform; b is a non-torque load switching matrix. The variable in B is the five-degree-of-freedom non-torque load F of the transmission chain x ,F y ,F z ,M y ,M z Conversion into a load-carrying component F A1 ,F A2 ,F A3 ,F A4 ,……,F Ap . And determining the variable value in the B according to the number of the loading load components, the geometric dimension of the loading disc in the loading device and the distribution position of the hydraulic cylinder.
The rigid-flexible coupling dynamic model of the transmission chain ground test system is established by adopting a first Lagrangian equation with Lagrangian multipliers. The dynamics model mainly comprises the following components: dragging and simulating components of a test platform such as a dragging motor, a five-degree-of-freedom non-torque loading device and the like, and tested transmission chain components such as a main shaft, a gear box, a generator and the like. Taking the components such as the connecting shafts of the tested transmission chains and the gear box planet carrier as flexible bodies, and calculating the elastic deformation of the flexible components by adopting a mode synthesis method. The flexible body dynamics differential equation is:
in the formula, xi is a generalized coordinate of a flexible body, and a centroid Cartesian coordinate system, an Euler angle reflecting an azimuth angle and a modal coordinate of the flexible body are selected as the generalized coordinate, namely:x r ,y r ,z r is the Cartesian coordinates of the centroid of the part, ψ r ,θ r ,/>Euler angle, q to reflect component orientation i The component modal coordinates are represented by T, which is a matrix transposed symbol; m is a flexible body mass matrix; k is a flexible body modal stiffness matrix; d is a flexible body modal damping matrix; />Is a constraint equation; lambda is the Lagrangian multiplier; f (f) G Is generalized gravity; q is a generalized force in the direction of generalized coordinate ζ, and includes a loading torque, a loading load component, an elastic force, and the like.
Applying the extracted and converted six-degree-of-freedom load of the transmission chain as an external load to a dynamic model of a ground test platform of the transmission chain, and respectively performing virtual ground test simulation, wherein the external load comprises the following components: six-degree-of-freedom limit load, six-degree-of-freedom equivalent fatigue load and six-degree-of-freedom load spectrum under key running state of the transmission chain.
The application modes of the six-degree-of-freedom limit load mainly comprise the following modes:
(1) Independently applying each degree-of-freedom limit load to the model in a static load manner;
(2) And applying all loads of the working conditions where the limiting loads of the degrees of freedom are positioned to the model in a static load mode.
The six-degree-of-freedom equivalent fatigue load application mode mainly comprises the following modes:
(1) Applying the equivalent fatigue load of each degree of freedom to the model independently in a static load mode;
(2) The equivalent fatigue load of each degree of freedom is independently applied to the model in the form of a step load from negative amplitude to positive amplitude, and the step value is determined according to the magnitude of the equivalent fatigue load;
(3) The equivalent fatigue load of each degree of freedom is independently applied to the model in the form of a sine load from negative amplitude to positive amplitude, and the sine load period is related to the loading frequency;
(4) After the equivalent fatigue torque and the equivalent fatigue non-torque load are combined, the static load, the step load and the sinusoidal load are respectively applied to the model.
The application modes of the six-degree-of-freedom load spectrum in the key operation state mainly comprise the following modes:
(1) Applying each degree of freedom load spectrum independently to the model;
(2) The torque load spectrum and the non-torque load spectrum are combined and applied to the model.
And respectively developing virtual test simulation under all the application modes, extracting simulation calculation results after the simulation is finished, analyzing dynamic responses of the transmission chain system and key components thereof, and forming ground test working conditions. The method specifically comprises the following steps:
(1) The method comprises the steps of evaluating the bearing capacity and strength characteristics of key components such as connecting shafts, bearings, planetary carriers, gear cases and supporting pieces of a transmission chain through dynamic response characteristic analysis of the transmission chain under the action of limiting load, and analyzing the influence mechanism of each degree of freedom load on the bearing characteristics of the transmission chain and the key components of the transmission chain so as to form ground test working conditions suitable for bearing performance tests of the transmission chain system and the key components of the transmission chain;
(2) The fatigue resistance and the service life of the transmission chain are evaluated through dynamic response characteristic analysis of the transmission chain under the action of equivalent fatigue load, and the fatigue life influence mechanism of the transmission chain system and key components thereof is analyzed through the load of each degree of freedom, so that ground test working conditions suitable for the accelerated fatigue life test of the transmission chain system and the key components thereof are formed;
(3) And evaluating the steady-state, transient-state and transient-state characteristics of the transmission chain through dynamic response characteristic analysis of the transmission chain under a key running state, so as to form ground test working conditions suitable for steady-state, transient-state and transient-state performance tests of the transmission chain system and key components thereof.
Drawings
FIG. 1 is a flow chart of a virtual ground test method for a transmission chain of a wind turbine generator;
FIG. 2 is a diagram of a simulation model architecture of the whole wind turbine.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
FIG. 1 is a flow chart of a virtual ground test method for a drive chain of a wind turbine.
As shown in FIG. 1, the method for establishing the ground test working condition of the transmission chain is mainly divided into three parts, firstly, a complete machine simulation model of the wind turbine is established, load calculation of the wind turbine is carried out, and load extraction and conversion of the transmission chain are carried out after the load calculation is finished. Further, a rigid-flexible coupling dynamic model of the transmission chain ground test system is established, and the extracted and converted six-degree-of-freedom load of the transmission chain is used as the external load input of the transmission chain ground test platform dynamic model. And finally, carrying out virtual ground test simulation of the transmission chain, analyzing influence mechanisms of different external loads on dynamic characteristics of the transmission chain system and key components thereof based on simulation results, and establishing ground test working conditions.
The implementation steps of the invention are as follows:
(1) Firstly, a complete machine simulation model of the wind turbine is built, and fig. 2 is a structural diagram of the complete machine simulation model of the wind turbine. As shown in fig. 2, the complete machine simulation model consists of a pneumatic model, a unit dynamics model, and an electric and control model. The pneumatic model is used for calculating the pneumatic load of the tested unit and is used as the front end input of the unit dynamics model; the machine set dynamics model consists of parts such as an impeller, a tower, a transmission chain and the like, and is used for simulating and calculating the load characteristic of the transmission chain, and simultaneously, the high-speed end angular speed omega of the transmission chain is calculated g Outputting to an electric and control model; the electric and control model feeds back the pitch angle beta and the electromagnetic torque T e Variable pitch control of a unitAnd controlling the torque of the generator.
The aerodynamic model of the unit is built by adopting a phyllin-momentum theory. The machine set dynamics model is built based on a Kane method, the dynamics model consists of parts such as an impeller, a tower, a transmission chain and the like, and the flexibility degree of freedom of flexible parts such as the blades, the tower and the like is reduced and the elastic deformation is calculated by adopting a hypothesis mode method. The degree of freedom of the whole machine in the dynamic model is 15, and the method comprises the following steps: each blade has 3 degrees of freedom in the flapping and shimmy directions, the 3 blades have 9 degrees of freedom, the tower has 4 degrees of freedom in the transverse and longitudinal directions, the transmission chain has 1 degree of freedom in the torsion direction, and the generator has 1 degree of freedom in the torsion direction. The unit electric and control model mainly comprises: a generator torque control model and a pitch control model.
(2) And (3) carrying out load calculation of the wind turbine generator based on the established complete machine simulation model, defining load calculation simulation working conditions according to The International Electrotechnical Commission 61400-1 standard (Edition 4.0 2019-02), and simultaneously referring to the measured wind speed of the running site of the tested wind turbine generator so as to correct parameters such as wind shear, turbulence intensity and the like. And after load calculation under all working conditions is finished, extracting six-degree-of-freedom extreme load and fatigue load spectrums on the main shaft of the transmission chain, and load spectrums of the main shaft of the transmission chain and the high-speed shaft under key running states such as starting, stopping, power failure of a power grid, power grid faults and the like of a unit. And carrying out rain flow counting on the six-degree-of-freedom fatigue load spectrum to obtain a load-frequency statistical result, and obtaining an equivalent fatigue load through calculation. And converting the extracted six-degree-of-freedom load of the transmission chain into a six-degree-of-freedom load suitable for loading of a ground test platform, wherein the six-degree-of-freedom load comprises loading torque and five-degree-of-freedom non-torque loading load components.
(3) And establishing a rigid-flexible coupling dynamics model of the transmission chain ground test system by adopting a first Lagrange equation with Lagrange multipliers. The main components of the kinetic model include: dragging and simulating components of a test platform such as a dragging motor, a five-degree-of-freedom non-torque loading device and the like, and tested transmission chain components such as a main shaft, a gear box, a generator and the like. The components such as the connecting shafts of the tested transmission chain, the gear box planet carrier and the like are equivalent to be flexible bodies, the elastic deformation of the flexible components is calculated by adopting a mode synthesis method, and other components of the ground test system of the transmission chain are equivalent to be rigid bodies. Consider the contact stiffness of the gears in the tested drive train gearbox. The rigidity of each bearing of the transmission chain is considered, and the rigidity matrix is equivalent.
(4) Applying the extracted and converted six-degree-of-freedom load of the transmission chain as an external load to a dynamic model of a ground test platform of the transmission chain, and respectively performing virtual ground test simulation, wherein the external load comprises the following components: six-degree-of-freedom limit load, six-degree-of-freedom equivalent fatigue load and six-degree-of-freedom load spectrum under key running state of the transmission chain. And after the simulation is finished, extracting a simulation calculation result, analyzing the dynamic response of the key components of the transmission chain system, and forming ground test working conditions. The method specifically comprises the following steps: (1) the dynamic response characteristic analysis of the transmission chain under the action of the limiting load is used for evaluating the bearing capacity and strength characteristics of key components such as connecting shafts, bearings, planetary carriers, gear cases and supporting pieces of the transmission chain and analyzing the influence mechanism of the load of each degree of freedom on the bearing characteristics of the transmission chain system and the key components thereof, so that ground test working conditions suitable for the bearing performance test of the transmission chain system and the key components thereof are formed; (2) the fatigue resistance and the service life of the transmission chain are evaluated through dynamic response characteristic analysis of the transmission chain under the action of equivalent fatigue load, and the fatigue life influence mechanism of the transmission chain system and key components thereof is analyzed through the load of each degree of freedom, so that ground test working conditions suitable for the accelerated fatigue life test of the transmission chain system and the key components thereof are formed; (3) and evaluating the steady-state, transient-state and transient-state characteristics of the transmission chain through dynamic response characteristic analysis of the transmission chain under a key running state, so as to form ground test working conditions suitable for steady-state, transient-state and transient-state performance tests of the transmission chain system and key components thereof.
Claims (5)
1. A wind turbine generator system transmission chain ground test working condition establishment method based on virtual simulation is characterized by comprising the following steps: the ground test working condition establishment method comprises the steps of firstly calculating the load of a tested wind turbine generator, and extracting and converting the six-degree-of-freedom load on a transmission chain; further, a rigid-flexible coupling dynamic model of the transmission chain ground test platform is established, and the extracted and converted six-degree-of-freedom load of the transmission chain is used as the external load input of the dynamic model of the transmission chain ground test platform; finally, carrying out virtual ground test simulation of the transmission chain, analyzing influence mechanisms of different external loads on dynamic characteristics of the transmission chain system and key components thereof based on simulation results, and establishing ground test working conditions based on the influence mechanisms;
the method comprises the steps of calculating the load of a tested wind turbine and extracting and converting the load with six degrees of freedom on a driving chain, and firstly establishing a complete machine simulation model of the wind turbine, wherein the simulation model consists of a pneumatic model, a kinetic model of the wind turbine and an electric and control model; the pneumatic model is used for calculating the pneumatic load of the tested unit and is used as the front end input of the unit dynamics model; the machine set dynamics model consists of an impeller, a tower and a transmission chain, and is used for simulating the motion characteristic and the load characteristic of the transmission chain and simulating the high-speed end angular speed omega of the transmission chain g Outputting to an electric and control model; the electric and control model feeds back the pitch angle beta and the electromagnetic torque T e Performing variable pitch control and generator torque control on the unit;
the aerodynamic model is built based on a phyllin-momentum theory, and aerodynamic force and aerodynamic moment on the ith blade are as follows:
wherein F is xi ，F yi For aerodynamic forces on the ith blade along the X, Y axis of the blade rotational coordinate system, the blade rotatesThe X axis of the rotating coordinate system points to the wing tip along the direction of the rotation axis of the wind wheel, the Z axis points to the wing tip along the direction of the blade pitch axis, and the Y axis is determined by a right hand rule; m is M xi ，M yi Aerodynamic moments along a blade rotation coordinate system X and Y axes on the ith blade respectively; r is the root radius, R is the impeller radius; ρ is the air density; w is the synthetic wind speed; c (C) l And C d Respectively the lift coefficient and the drag coefficient of the blade, C l And C d The numerical magnitude is related to the pitch angle variable beta;is the blade lift angle; l is the chord length of the airfoil, r 1 Is an integral variable;
the unit dynamics model is built based on a Kane method, and comprises the following steps: the freedom degree reduction and elastic deformation calculation of the flexible parts of the blades and the towers are carried out by adopting a hypothesis mode method; the degree of freedom of the whole machine set is set to 15, and 15 generalized coordinates q are defined 1 ，q 2 ，…，q 15 Generalized rate u 1 ，u 2 …，u 15 Describing unit motion, wherein the generalized velocity is the linear combination of generalized coordinate derivatives; the complete machine dynamics equation is established as follows:
F a +F a * ＝0，a＝1,2,…,15
wherein F is a And F a * The generalized main power and the generalized inertial force corresponding to each generalized velocity are shown, and a is the sequence number of the generalized main power and the generalized inertial force;
generalized active force F a And generalized inertial force F a * The specific expression of (2) is:
wherein p is a unitNumber of parts; i is a component serial number; f (F) i And T i The main power and torque acting on the ith component, respectively, include: gravity, aerodynamic force, elastic force, torque; v a (p,t) i And omega a (q,t) i The ith offset velocity and the offset angular velocity of the component in the reference frame are respectively defined by the generalized velocity u r Obtaining; f (F) *i And T *i Inertial force and moment of inertia acting on the ith component, respectively;
the system dynamics equation is solved to obtain the unit load and motion response, wherein the unit load and motion response comprises a transmission chain main shaft torque load T and a transmission chain axial thrust load F x Radial force load F of transmission chain y And F z Moment load M of transmission chain y And M z And generator angular velocity omega g ；
The electric and control model comprises a generator torque control model and a variable pitch control model; wherein, the generator torque control carries out electromagnetic torque setting according to a rotating speed-torque curve, and when the rotating speed of the generator does not reach the rated rotating speed, the electromagnetic torque of the generator is given value T e The method comprises the following steps:
wherein ρ is the air density; r is the radius of the impeller; g is the transmission ratio of the gear box; c (C) Pmax Is the maximum power factor; lambda (lambda) opt Is the optimal tip speed ratio; omega g The rotation speed of the generator;
when the rotating speed of the generator reaches the rated rotating speed, the torque and the rotating speed are kept constant by adjusting the pitch angle, and at the moment, the electromagnetic torque of the generator is given a value T e The method comprises the following steps:
T e ＝T rate
wherein T is rate Rated torque of a generator of the tested unit is set;
the method for carrying out the simulation of the virtual ground test of the transmission chain and establishing the ground test working condition comprises the following steps:
applying the extracted and converted six-degree-of-freedom load of the transmission chain as an external load to a dynamic model of a ground test platform of the transmission chain, and respectively performing virtual ground test simulation, wherein the external load comprises the following components: six-degree-of-freedom limit load, six-degree-of-freedom equivalent fatigue load and six-degree-of-freedom load spectrum under key running state of the transmission chain;
the application modes of the six-degree-of-freedom limit load comprise the following modes:
(1) Independently applying each degree-of-freedom limit load to the model in a static load manner;
(2) Applying all loads of working conditions where the limiting loads of all degrees of freedom are positioned to the model in a static load mode;
the six-degree-of-freedom equivalent fatigue load application method comprises the following steps:
(1) Applying the equivalent fatigue load of each degree of freedom to the model independently in a static load mode;
(2) The equivalent fatigue load of each degree of freedom is independently applied to the model in the form of a step load from negative amplitude to positive amplitude, and the step value is determined according to the magnitude of the equivalent fatigue load;
(3) The equivalent fatigue load of each degree of freedom is independently applied to the model in the form of a sine load from negative amplitude to positive amplitude, and the sine load period is related to the loading frequency;
(4) After the equivalent fatigue torque and the equivalent fatigue non-torque load are combined, respectively applying the static load, the step load and the sinusoidal load to the model;
the application modes of the six-degree-of-freedom load spectrum under the key operation state comprise the following modes:
(1) Applying each degree of freedom load spectrum independently to the model;
(2) Combining the torque load spectrum and the non-torque load spectrum and then applying the combined torque load spectrum and the non-torque load spectrum to a model;
respectively developing virtual test simulation under all the application modes, extracting simulation calculation results after the simulation is finished, analyzing dynamic responses of the transmission chain system and key components thereof, and forming ground test working conditions, wherein the method specifically comprises the following steps:
(1) The method comprises the steps of evaluating the bearing capacity and strength characteristics of each key component of a transmission chain, including a connecting shaft, a bearing, a planet carrier, a gear box body and a support piece, through dynamic response characteristic analysis of the transmission chain under the action of limiting load, and analyzing the influence mechanism of each degree of freedom load on the bearing characteristics of the transmission chain system and the key components thereof, so as to form ground test working conditions suitable for bearing performance tests of the transmission chain system and the key components thereof;
(2) The fatigue resistance and the service life of different parts of the transmission chain are evaluated through dynamic response characteristic analysis of the transmission chain under the action of equivalent fatigue load, and the fatigue life influence mechanism of the transmission chain system and key parts thereof is analyzed through the load of each degree of freedom, so that ground test working conditions suitable for accelerated fatigue life tests of the transmission chain system and key parts thereof are formed;
(3) And evaluating the steady-state, transient-state and transient-state characteristics of the transmission chain through dynamic response characteristic analysis of the transmission chain under a key running state, so as to form ground test working conditions suitable for steady-state, transient-state and transient-state performance tests of the transmission chain system and key components thereof.
2. The method for establishing the ground test working condition of the transmission chain of the wind turbine generator set according to claim 1, wherein the method comprises the following steps: the unit variable pitch control adopts a PI control strategy, a pitch angle instruction output by PI control is sent to a variable pitch system to execute a variable pitch action, and the dynamic characteristic of the variable pitch system is represented by a first-order system with time delay:
wherein beta is * Setting a pitch angle; beta is the actual value of the pitch angle; τ β Is the time constant of the pitch mechanism; t (T) D Is the total delay time; e is the base of natural logarithm; s is a complex variable.
3. The method for establishing the ground test working condition of the transmission chain of the wind turbine generator set according to claim 1, wherein the method comprises the following steps: the load of the tested wind turbine and the six-degree-of-freedom load on the transmission chain are calculated, extracted and converted, and the load is carried out based on a complete machine simulation model of the wind turbine; the load calculation working condition is defined according to The International Electrotechnical Commission 61400-1 standard (Edition 4.02019-02), and meanwhile, the measured wind speed of the operation site of the tested unit is referred to so as to correct wind speed parameters, wherein the wind speed parameters comprise wind shear and turbulence intensity; after load calculation under all working conditions is finished, six-degree-of-freedom limit load and fatigue load spectrums on the transmission chain are extracted, and six-degree-of-freedom load spectrums of the transmission chain are extracted under key running states of unit starting, stopping, power failure of a power grid and power grid faults; carrying out rain flow counting on the six-degree-of-freedom fatigue load spectrum to obtain a load-frequency statistical result, and carrying out equivalent fatigue load calculation, wherein the calculation formula is as follows:
wherein L is equi Is equivalent fatigue load; s is S i Load amplitude after counting for rain flow; n is n i For amplitude S i Load cycle times of (a); m is the slope of the S-N curve of the material; t is t equi The equivalent fatigue load acting time; f (f) equi Is the equivalent load acting frequency;
in the ground test, according to the test time and the load loading capacity of the test platform, the equivalent payload acting time and the equivalent payload frequency are converted, and the conversion formula is as follows:
t 1 f 1 ＝t equi f equi
wherein t is 1 For the ground test time, f 1 Loading the ground test platform with a frequency.
4. The method for establishing the ground test working condition of the transmission chain of the wind turbine generator set according to claim 1, wherein the method comprises the following steps: the six-degree-of-freedom load on the transmission chain is extracted and converted, namely the extracted six-degree-of-freedom load of the transmission chain is converted into a six-degree-of-freedom load suitable for loading of a ground test platform; the basic conversion formula of the torque load on the transmission chain under the dynamic running of the unit is as follows:
wherein T is * Loading torque for the test platform; t is the torque of a transmission chain of the tested unit; j (J) d Dragging and simulating the rotational inertia of the end for the test platform; omega is the angular velocity of the impeller of the tested unit; t is a time variable;
the five-degree-of-freedom non-torque load of the transmission chain is simulated and loaded through a five-degree-of-freedom non-torque load loading device on the ground test platform, and the five-degree-of-freedom non-torque load conversion is carried out according to the number of loading load components on the load loading device, the geometric dimension of a loading disc and the distribution position of a hydraulic cylinder, wherein a basic conversion formula is as follows:
wherein F is Ap Loading a load component for the p-th load on the test platform; b is a non-torque load conversion matrix; the variable in B is the five-degree-of-freedom non-torque load F of the transmission chain x ,F y ,F z ,M y ,M z Conversion into a load-carrying component F A1 ,F A2 ,F A3 ,F A4 ,……,F Ap The method comprises the steps of carrying out a first treatment on the surface of the And determining the variable value in the B according to the number of the loading load components, the geometric dimension of the loading disc in the loading device and the distribution position of the hydraulic cylinder.
5. The method for establishing the ground test working condition of the transmission chain of the wind turbine generator set according to claim 1, wherein the method comprises the following steps: the rigid-flexible coupling dynamic model of the transmission chain ground test platform is established by adopting a first Lagrangian equation with Lagrangian multipliers; the dynamics model main component comprises a test platform dragging and simulating component and a tested transmission chain component: the test platform dragging and simulating component comprises a dragging motor and a five-degree-of-freedom non-torque loading device, and the tested transmission chain component comprises a main shaft, a gear box and a generator; taking a tested transmission chain connecting shaft and a gear box planet carrier part as a flexible body into consideration, and carrying out elastic deformation calculation on the flexible part by adopting a mode synthesis method; the flexible body dynamics differential equation is:
in the formula, xi is a generalized coordinate of a flexible body, and a centroid Cartesian coordinate system, an Euler angle reflecting an azimuth angle and a modal coordinate of the flexible body are selected as the generalized coordinate, namely:x r ,y r ,z r is the Cartesian coordinates of the centroid of the part, ψ r ,θ r ,Euler angle, q to reflect component orientation i The component modal coordinates are represented by T, which is a matrix transposed symbol; m is a flexible body mass matrix; k is a flexible body modal stiffness matrix; d is a flexible body modal damping matrix; />Is a constraint equation; lambda is the Lagrangian multiplier; f (f) G Is generalized gravity; q is the generalized force in the direction of generalized coordinate ζ, and includes a loading torque, a loading load component, and an elastic force.
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