CN111859650A - Wind turbine generator transmission chain virtual ground test method based on online joint simulation - Google Patents
Wind turbine generator transmission chain virtual ground test method based on online joint simulation Download PDFInfo
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Abstract
A wind turbine generator transmission chain virtual ground test method based on online joint simulation is characterized in that a wind turbine generator transmission chain ground test system virtual simulation model is firstly established, single or combined virtual ground test working conditions including a wind speed model, a generator set state and a power grid condition are further established, working condition input is carried out at the corresponding position of the transmission chain ground test system virtual model, finally transmission chain virtual ground test simulation analysis is carried out, and analysis and evaluation are carried out on transmission chain load characteristics, dynamic response characteristics, test platform simulation control characteristics and the like based on simulation results.
Description
Technical Field
The invention relates to a virtual ground test method for a transmission chain of a wind turbine generator.
Background
The transmission chain of the wind turbine generator mainly comprises a main shaft, a gear box, a generator, a converter and the like, and is a core part of the generator. With the rapid development of wind power technology, the large-scale wind generation set becomes the future trend. The high-power wind turbine generator has complex and severe operating environment and high operation and maintenance difficulty, and provides higher and higher requirements for the test work of the generator, particularly a transmission chain part, in order to ensure the stable and reliable operation of the high-power wind turbine generator. In recent years, the ground test of the transmission chain is widely regarded and relied on at home and abroad, and by developing the ground test, a controllable test environment can be provided for research, development, design and performance evaluation of the wind turbine generator, new technologies and new products can be quickly and effectively tested and verified, design problems and potential safety hazards can be found as early as possible, technical risks can be reduced, product development cost can be reduced, the research and development period can be shortened, and the quality and reliability of the transmission chain can be improved.
The transmission chain virtual ground test is an effective means for supporting and assisting the transmission chain ground test, virtual simulation analysis under different test working conditions is developed by establishing an accurate digital simulation model of the transmission chain ground test system, the full dynamic characteristic of the tested transmission chain is obtained, effective simulation comparison and verification are provided for the actually developed ground test result, better early-stage verification can be provided for the research of a ground test system simulation control strategy and a test method, optimization and improvement of a related control strategy and the test method are guided, and safe operation and efficient test of the ground test system are ensured.
In recent years, relevant research has been done in the aspect of virtual test of wind turbine generators in China. The wind power virtual test bed is established for the more in Song (the more in Song, the winter discrimination, the greater the Zhao and the like), the wind power generator test bed system research based on the combined simulation [ J ]. System simulation journal 2018,30(2):740 + 746), and the like, and is mainly used for carrying out virtual test verification on the output characteristics of the rotating speed, the vibration signal and the like of the wind power gear box under the action of the pneumatic torque. The Chinese patent 201610992537.X.2016-11-10 proposes a wind turbine power control test platform and a method based on hardware-in-the-loop simulation, which are mainly used for carrying out tests on the power control capability of the wind turbine. At present, the domestic virtual test method is mainly used for verifying a single unit or specific performance of a unit, the established virtual simulation model has a relatively single verification function, the virtual test content and the virtual test working condition are relatively simple, and no research report is provided for the virtual test method of the wind turbine generator transmission chain system under the full working condition.
Disclosure of Invention
The invention aims to make up for the defects of the prior art and provides a wind turbine generator transmission chain virtual ground test method based on online joint simulation. The invention establishes a virtual simulation model of the ground test system of the transmission chain based on a joint modeling simulation method, performs virtual ground test simulation analysis, finally obtains the full dynamic characteristics of the transmission chain, provides effective simulation contrast and verification for the ground test which is actually developed, guides the optimization and improvement of the simulation control strategy and the test method of the ground test system, and ensures the safe operation and the efficient test of the ground test system.
The invention adopts the following technical scheme:
the virtual ground test method comprises the steps of firstly establishing a virtual simulation model of the wind turbine generator transmission chain ground test system, further establishing a single or combined virtual ground test working condition comprising a wind speed model, a generator state and a power grid condition, inputting the working condition at the corresponding position of the virtual model of the transmission chain ground test system, finally carrying out transmission chain virtual ground test simulation analysis, and carrying out analysis and evaluation on transmission chain load characteristics, dynamic response characteristics, test platform simulation control characteristics and the like based on simulation results.
The virtual simulation model of the wind turbine generator transmission chain ground test system consists of a transmission chain ground test system dynamic model and a transmission chain ground test system simulation control model. The dynamic model is used for analyzing the dynamic characteristics of the tested transmission chain under different test working conditions; the simulation control model is mainly used for simulating the ground test working condition and controlling the tested transmission chain. The dynamic model and the simulation control model are interacted through variables, and the interacted variables comprise: test platform loading torque T*Or loading rotating speed n and five-degree-of-freedom non-torque loading load component F of test platformApGenerator electromagnetic torque T in tested unit transmission chaineAnd angular velocity omegagAnd the like.
The dynamic model of the transmission chain ground test system is established by adopting a first type of Lagrange equation with a Lagrange multiplier. The main components in the dynamic model include: the device comprises a dragging motor, a five-degree-of-freedom non-torque loading device, tested transmission chain components such as a main shaft, a gear box and a generator, connecting components and the like. The kinetic equation is:
in the formula, qrSelecting a component mass center Cartesian coordinate system and an Euler angle reflecting the component direction as generalized coordinates of each component, namely 
xr,yr,zrCartesian coordinates of the center of mass of the part, psir,θr,
In order to reflect the Euler angle of the part position, T is a matrix transposition symbol; l is the kinetic energy expressed by the generalized coordinates of the system; t is a time variable; qrAt a generalized coordinate qrGeneralized force in direction, including loading torque T*Component of load FApGear engagement force, elastic force and generator electromagnetic torque TeEtc.; the last term of the kinetic equation is a constraint function
And lagrange multiplier λsAt generalized coordinate qrAnd (4) direction constraint counterforce, wherein s is the sequence number of the Lagrange multiplier, and k is the number of the Lagrange multipliers. Solving the system dynamic equation can obtain the dynamic response of the tested drive chain, including the angular speed omega of the generatorg。
The simulation control model of the transmission chain ground test system mainly comprises: the system comprises a tested wind turbine load calculation model, an electrical control model, a test platform wind turbine simulation control model, a five-degree-of-freedom non-torque simulation control model, a power grid simulation control model and the like. The tested wind turbine generator load calculation model is mainly used for calculating the torque load T of the transmission chain of the tested wind turbine generator and the five-degree-of-freedom non-torque load Fx,Fy,Fz,My,Mz(ii) a The electric control model mainly comprises an interactive electromagnetic torque variable TeIn the form of providing torque control for a test system dynamics model, and by alternating pitch angle variables The form of beta provides variable pitch control for the load calculation model; the test platform wind turbine simulation control model and the five-degree-of-freedom simulation control model are respectively used for testing the torque load T of the transmission chain of the tested unit and the non-torque load F of the five degrees of freedomx,Fy,Fz,My,MzSimulation test platform loading torque T*Or the loading speed n, and the loading load component FAp(ii) a The power grid simulator control model is used for simulating various power grid states accessed by the test platform, including a normal power grid state and a fault power grid state.
The tested unit load calculation model is established based on a phylloton-momentum theory and a Kane (Kane) method. The aerodynamic force and the aerodynamic moment on the ith blade of the tested unit are as follows:
in the formula, Fxi，FyiThe aerodynamic force of the ith blade along the X axis and the Y axis of a blade rotating coordinate system is obtained, the X axis of the blade rotating coordinate system is along the rotating shaft direction of a wind wheel, the Z axis points to the wingtip along the blade pitch axis direction, and the Y axis is determined by a right-hand rule; mxi，MyiRespectively the aerodynamic moment of the ith blade along the X axis and the Y axis of a blade rotating coordinate system; r is the root radius, R is the impeller radius; ρ is the air density; w is the resultant wind speed; clAnd CdLift coefficient and drag coefficient, C, of the blade, respectivelylAnd CdThe magnitude of the value is related to the pitch angle variable β; 
Is the blade lift angle; l is the chord length of the airfoil, r1Is an integral variable. According to the motion response of the unit, aerodynamic force and aerodynamic moment on 3 blades are converted and synthesized to a hub coordinate system, and the effects of the gravity load of the hub and the centrifugal load of the impeller are considered at the same time, so that the six-degree-of-freedom load T and F of the main shaft of the transmission chain is finally obtainedx,Fy,Fz,My,MzT is the torque load of the drive train, FxFor axial thrust loading of the drive chain, FyAnd FzFor radial force loading of the drive chain, MyAnd MzThe moment load of the transmission chain is adopted.
The tested unit electrical control model mainly comprises a generator torque control model and a variable pitch control model. 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 a rated rotating speed, the electromagnetic torque set value T of the generatoreComprises the following steps:
wherein ρ is an air density; r is the radius of the impeller; g is the transmission ratio of the gear box; cPmaxIs the maximum power factor; lambda [ alpha ]optAn optimal tip speed ratio; omegagIs 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 given value T of the electromagnetic torque of the generatoreComprises the following steps:
Te＝Trate
in the formula, TrateThe rated torque of the generator of the tested unit.
The unit variable pitch control adopts a PI control strategy, a pitch angle instruction output by the 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:
in the formula, beta*Setting a pitch angle; beta is the actual value of the pitch angle; tau isβIs the time constant of the variable pitch mechanism; t isDIs the total delay time. e is the base number of the natural logarithm; s is a complex variable.
The simulation control model of the transmission chain test platform wind turbine is mainly used for simulating the pneumatic torque T of the tested unit into the loading torque T of the dragging motor on the test platform*Or a loading rotational speed n. If the friction coefficients of the tested unit and the test platform are not considered, loading the torque T*The basic formula of the simulation is as follows:
in the formula, T*Loading torque for the test platform; t is the torque of the transmission chain of the tested unit; j. the design is a squaredDragging the simulation end rotational inertia for the test platform; omega is the angular velocity of the impeller of the tested unit; t is a time variable.
If the friction coefficients of the tested unit and the test platform are not considered, the basic simulation formula of the loading rotating speed n is as follows:
in the formula, TrThe pneumatic torque of the tested unit is obtained; j. the design is a squareefEquivalent rotational inertia of a unit transmission chain; t isefIs the generator equivalent electromagnetic torque; t is a time variable; t is t 0Is an analog duration.
The five-degree-of-freedom non-torque load simulation control model of the wind turbine of the transmission chain test platform is mainly used for simulating the non-torque load F of the transmission chain of the tested unitx,Fy,Fz,My,MzLoad component F of non-torque load loading device on simulation test platformApThe basic formula of the simulation is as follows:
in the formula, FApThe p-th loading load component on the test platform; and B is a non-torque load transfer matrix. The variable in B is the non-torque load F of the transmission chainx,Fy,Fz,My,MzConversion into a loaded load component FA1、FA2、FA3、FA4，……,FApAnd determining the variable value in the B according to the number of the loading load components, the geometric size of a loading disc in the loading device and the distribution position of the hydraulic cylinders.
The power grid simulator model mainly simulates various power grid states accessed by a test platform, including a normal power grid state and a fault power grid state, and establishes a simulation basic formula according to the topological structure of the power grid simulator. When a topological structure of a cascade H-bridge type multi-level converter is adopted and each phase of the converter consists of N power units, the formula of an input phase voltage is as follows:
UAN＝Uoa1+Uoa2+Uoa3…+Uoan
UBN＝Uob1+Uob2+Uob3…+Uobn
UCN＝Uoc1+Uoc2+Uoc3…+Uocn
in the formula of UoxnThe voltage input by the Nth power unit, x is a, b and c; n is 1, 2.. N, N is a positive integer; u shapeXNFor the inverter output phase voltage, X is A, B, C. The switching state of each power unit in the converter is controlled, so that the converter outputs step wave voltage to approach a reference voltage signal.
After the virtual simulation model of the wind turbine generator transmission chain ground test system is established, a single or combined virtual ground test working condition comprising a wind speed model, a generator set state and a power grid condition is further established, and working condition input is carried out at the corresponding position of the virtual model of the transmission chain ground test system.
And finally, carrying out virtual ground test simulation analysis on the transmission chain, and carrying out analysis and evaluation on the load characteristic and the dynamic response characteristic of the transmission chain, the simulation control characteristic of a test platform and the like based on a simulation result.
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 virtual simulation model architecture of a drive chain ground test system.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
FIG. 1 is a flow chart of a virtual ground test method for a transmission chain of a wind turbine generator. As shown in FIG. 1, the virtual ground test method of the invention is mainly divided into three parts, firstly, a virtual simulation model of the wind turbine generator transmission chain ground test system is established; secondly, establishing a virtual ground test working condition of the transmission chain; and finally, carrying out simulation analysis on the virtual ground test of the transmission chain and evaluating a simulation result, wherein the method comprises the following specific steps of:
(1) Firstly, a virtual simulation model of a wind turbine generator transmission chain ground test system is established, and fig. 2 is a construction diagram of the virtual simulation model of the transmission chain ground test system. As shown in fig. 2, the established virtual simulation model of the wind turbine generator transmission chain ground test system is composed of a dynamic model and a simulation control model. The dynamic model is used for analyzing the dynamic characteristics of the tested transmission chain under different test working conditions; the simulation control model is mainly used for simulating the ground test working condition and controlling the tested transmission chain. The dynamic model and the simulation control model are interacted through variables, and the interactive variables comprise: test platform loading torque T*Or loading rotating speed n and five-degree-of-freedom non-torque loading load component F of test platformApElectromagnetic torque T of generator in tested transmission chaineAnd angular velocity omegagAnd the like.
A dynamic model of the transmission chain ground test system is established by adopting a first type of Lagrange equation with a Lagrange multiplier. The main components in the dynamic model include: the device comprises a dragging motor, a five-degree-of-freedom non-torque loading device, tested transmission chain components such as a main shaft, a gear box and a generator, connecting components and the like. During modeling, a detailed multi-rigid-body model is established for the gear box, and the contact rigidity of each gear is considered. The torsional rigidity of each connecting part is equivalent to a torsional spring-damping system, and the rigidity of the bearing is equivalent to a rigidity matrix.
The simulation control model of the transmission chain ground test system mainly comprises: the system comprises a tested wind turbine load calculation model, an electrical control model, a test platform wind turbine simulation control model, a five-degree-of-freedom non-torque simulation control model, a power grid simulation control model and the like. The tested wind turbine generator load calculation model is mainly used for calculating the torque load T of the transmission chain of the tested wind turbine generator and the five-degree-of-freedom non-torque load Fx,Fy,Fz,My,Mz(ii) a The electric control model mainly comprises an interactive electromagnetic torque variable TeThe form of the variable pitch angle variable beta provides torque control for a dynamic model of the test system, and variable pitch control for a load calculation model through the form of the interactive pitch angle variable beta; the test platform wind turbine simulation control model and the five-degree-of-freedom simulation control model are respectively used for testing the torque load T of the transmission chain of the tested unit and the non-torque load F of the five degrees of freedomx,Fy,Fz,My,MzSimulation test platform loading torque T*Or loading speed n, and five-degree-of-freedom non-torque loading load component FAp(ii) a The power grid simulator control model is used for simulating various power grid states accessed by the test platform, including normal power grid states and fault power grid states.
(2) And establishing a virtual ground test working condition by referring to The International Electrotechnical Commission 61400-1 standard (Edition 4.02019-02) or customizing based on measured data, wherein The virtual ground test working condition is a single or combined working condition comprising different wind speed models, different unit running states and different power grid conditions. Wherein, the wind speed model mainly includes: a normal wind speed model, an extreme wind speed model and the like are established in a discrete data form of the change of the wind speed along with time and are input into a tested unit load calculation model; the unit state mainly includes: the method comprises the following steps that (1) a set is started, the set generates power normally, the set fails, the set stops and the like, and relevant instructions or parameters are set in a load calculation model or a control system model of a tested set; the grid conditions mainly include: normal grid conditions, fault grid conditions, and the like, and relevant parameters are set in the grid simulator model.
(3) And carrying out combined simulation analysis of the virtual ground test of the transmission chain. After simulation begins, variables such as low-speed shaft torque or angular velocity of a main shaft of the tested wind turbine generator set at the current moment, five-degree-of-freedom non-torque load decomposition vectors and the like are calculated through simulation of the simulation control model, relevant variables are interacted into the dynamic model, simulation of a virtual ground test of the transmission chain at the same moment is completed by the dynamic model, variables such as the angular velocity of the high-speed shaft of the transmission chain and electromagnetic torque obtained through simulation are transmitted back to the simulation control model to be simulated at the next moment, and simulation under all working conditions is completed.
(4) After simulation is finished, extracting a simulation calculation result, analyzing and evaluating the load characteristic and the dynamic response characteristic of the transmission chain and the simulation control characteristic of the test platform, and evaluating the ultimate strength, the fatigue strength and the like of the transmission chain component, particularly the ultimate strength under extreme working conditions such as extreme wind speed, power grid fault and the like through load characteristic analysis; evaluating the resonance characteristic, the electromechanical transient characteristic, the electric energy output characteristic and the like of the transmission chain component under the action of transient working conditions such as steady-state working conditions, wind speed change, unit running state change, power grid faults and the like through dynamic response analysis; and evaluating the effects of wind turbine simulation control, five-degree-of-freedom non-torque load simulation control and power grid simulation control through the analysis of the simulation control characteristics of the test platform so as to optimize the simulation control strategy.
Claims (11)
1. A wind turbine generator transmission chain virtual ground test method based on online joint simulation is characterized in that: the virtual ground test method comprises the steps of firstly establishing a virtual simulation model of the wind turbine generator transmission chain ground test system, further establishing a combined virtual ground test working condition comprising a wind speed model, a generator set state and a power grid condition, inputting the working condition at the corresponding position of the virtual model of the transmission chain ground test system, finally carrying out transmission chain virtual ground test simulation analysis, and carrying out analysis and evaluation on transmission chain load characteristics, dynamic response characteristics, test platform simulation control characteristics and the like based on simulation results.
2. According to claim 1The virtual ground test method of the transmission chain of the wind turbine generator is characterized by comprising the following steps: the virtual simulation model of the wind turbine generator transmission chain ground test system consists of a transmission chain ground test system dynamic model and a transmission chain ground test system simulation control model; the dynamic model of the transmission chain ground test system is used for analyzing the dynamic characteristics of the tested transmission chain under different test working conditions; the simulation control model of the transmission chain ground test system is mainly used for simulating the ground test working condition and controlling the tested transmission chain; the dynamic model and the simulation control model are interacted through variables, and the interacted variables comprise: test platform loading torque T *Or loading rotating speed n and five-degree-of-freedom non-torque loading load component F of test platformApGenerator electromagnetic torque T in tested unit transmission chaineAnd angular velocity omegag。
3. The virtual ground test method for the transmission chain of the wind turbine generator set according to claim 2, characterized in that: the dynamic model of the transmission chain ground test system is established by adopting a first type of Lagrange equation with a Lagrange multiplier; the main components of the kinetic model include: the device comprises a dragging motor, a five-degree-of-freedom non-torque loading device, tested transmission chain components such as a main shaft, a gear box and a generator, and connecting components; the kinetic equation is:
in the formula, qrSelecting a component mass center Cartesian coordinate system and an Euler angle reflecting the component direction as generalized coordinates of each component, namely
xr,yr,zrCartesian coordinates of the center of mass of the part, psir,θr,
To reflectEuler angles of the component orientation, T is a matrix transposition symbol; l is the kinetic energy expressed by the generalized coordinates of the system; t is a time variable; qrAt a generalized coordinate qrGeneralized force in direction, including loading torque T*Component of load FApGear engagement force, elastic force and generator electromagnetic torque Te(ii) a The last term of the kinetic equation is a constraint function 
And lagrange multiplier λsAt generalized coordinate qrThe constraint reaction force of the direction is shown, wherein s is the sequence number of Lagrange multipliers, and k is the number of the Lagrange multipliers; solving the system dynamic equation can obtain the dynamic response of the tested transmission chain, wherein the dynamic response comprises the angular speed omega of the generatorg。
4. The virtual ground test method for the transmission chain of the wind turbine generator set according to claim 2, characterized in that: the simulation control model of the transmission chain ground test system comprises: the system comprises a tested wind turbine load calculation model, an electrical control model, a test platform wind turbine simulation control model, a five-degree-of-freedom non-torque simulation control model and a power grid simulation control model; the tested wind turbine generator load calculation model is mainly used for calculating the torque load T of the transmission chain of the tested wind turbine generator and the five-degree-of-freedom non-torque load Fx,Fy,Fz,My,Mz(ii) a The electric control model mainly comprises an interactive electromagnetic torque variable TeThe form of the variable pitch angle variable beta provides torque control for a dynamic model of a transmission chain ground test system, and variable pitch control for a load calculation model through the form of the interactive pitch angle variable beta; the test platform wind turbine simulation control model and the five-degree-of-freedom simulation control model are respectively used for testing the torque load T of the transmission chain of the tested unit and the non-torque load F of the five degrees of freedom x,Fy,Fz,My,MzSimulation test platform loading torque T*Or the loading speed n, and the loading load component FAp(ii) a The power grid simulator control model is used for simulating various power grid states including normal power accessed by the test platformGrid status and faulty grid status.
5. The virtual ground test method for the transmission chain of the wind turbine generator set according to claim 4, characterized in that: a tested unit load calculation model is established based on a phylloton-momentum theory and a Kane (Kane) method; the aerodynamic force and the aerodynamic moment on the ith blade of the tested unit are as follows:
in the formula, Fxi，FyiThe aerodynamic force of the ith blade along the X axis and the Y axis of a blade rotating coordinate system is obtained, the X axis of the blade rotating coordinate system is along the rotating shaft direction of a wind wheel, the Z axis points to the wingtip along the blade pitch axis direction, and the Y axis is determined by a right-hand rule; n is a radical ofxi，MyiRespectively the aerodynamic moment of the ith blade along the X axis and the Y axis of a blade rotating coordinate system; r is the root radius, R is the impeller radius; ρ is the air density; w is the resultant wind speed; clAnd CdLift coefficient and drag coefficient, C, of the blade, respectivelylAnd CdThe magnitude of the value is related to the pitch angle variable β;
is the blade lift angle; l is the chord length of the airfoil, r1Is an integral variable;
according to the motion response of the unit, the aerodynamic force and the aerodynamic moment on the 3 blades are converted and synthesized to a hub coordinate system, and meanwhile, the consideration is given to The six-degree-of-freedom loads T and F of the main shaft of the transmission chain are finally obtained under the action of the gravity load of the hub and the centrifugal load of the impellerx,Fy,Fz,My,MzT is the torque load of the drive train, FxFor axial thrust loading of the drive chain, FyAnd FzFor radial force loading of the drive chain, MyAnd MzThe moment load of the transmission chain is adopted.
6. The virtual ground test method for the transmission chain of the wind turbine generator set according to claim 4, characterized in that: the tested unit electrical control model comprises a generator torque control model and a variable pitch control model; 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 a rated rotating speed, the electromagnetic torque set value T of the generatoreComprises the following steps:
wherein ρ is an air density; r is the radius of the impeller; g is the transmission ratio of the gear box; cPmaxIs the maximum power factor; lambda [ alpha ]optAn optimal tip speed ratio; omegagIs 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 given value T of the electromagnetic torque of the generatoreComprises the following steps:
Te＝Trate
in the formula, TrateRated torque of the generator of the tested unit;
the unit variable pitch control adopts a PI control strategy, a pitch angle instruction output by the 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:
In the formula, beta is an actual value of the pitch angle; beta is a*Setting a pitch angle; tau isβIs the time constant of the variable pitch mechanism; t isDThe total delay time; e is the base number of the natural logarithm; s is a complex variable.
7. The virtual ground test method for the transmission chain of the wind turbine generator set according to claim 4, characterized in that: the simulation control model of the wind turbine of the transmission chain test platform simulates the pneumatic torque T of the tested unit into the loading torque T of the dragging motor on the test platform*Or a loading rotational speed n; if the friction coefficients of the tested unit and the test platform are not considered, loading the torque T*The basic formula of the simulation is as follows:
in the formula, T*Loading torque for the test platform; t is the torque of the transmission chain of the tested unit; j. the design is a squaredDragging the simulation end rotational inertia for the test platform; omega is the angular velocity of the impeller of the tested unit; t is a time variable;
if the friction coefficients of the tested unit and the test platform are not considered, the basic simulation formula of the loading rotating speed n is as follows:
in the formula, TrThe pneumatic torque of the tested unit is obtained; j. the design is a squareefEquivalent moment of inertia of the tested unit; t isefIs the generator equivalent electromagnetic torque; t is a time variable; t is t0The simulation duration is t, a time variable.
8. The virtual ground test method for the transmission chain of the wind turbine generator set according to claim 4, characterized in that: the five-degree-of-freedom non-torque load simulation control model of the wind turbine of the transmission chain test platform is used for simulating the non-torque load F, M of the transmission chain of the tested unit into a loading load component F of a non-torque load loading device on the test platform ApThe basic formula of the simulation is as follows:
in the formula, FApThe p-th loading load component on the test platform; and B is a non-torque load transfer matrix. The variable in B is the non-torque load F of the transmission chainx,Fy,Fz,My,MzConversion into a loaded load component FA1、FA2、FA3、FA4，……,FApAnd determining the variable value in the B according to the number of the loading load components, the geometric size of a loading disc in the loading device and the distribution position of the hydraulic cylinders.
9. The virtual ground test method for the transmission chain of the wind turbine generator set according to claim 4, characterized in that: the power grid simulator model mainly simulates various power grid states accessed by a test platform, including a normal power grid state and a fault power grid state, and establishes a simulation basic formula according to a topology structure of the power grid simulator; when a topological structure of a cascade H-bridge type multi-level converter is adopted and each phase of the converter consists of N power units, the formula of an input phase voltage is as follows:
UAN＝Uoa1+Uoa2+Uoa3…+Uoan
UBN＝Uob1+Uob2+Uob3…+Uobn
UCN＝Uoc1+Uoc2+Uoc3…+Uocn
in the formula of UoxnThe voltage input by the Nth power unit, x is a, b and c; n is 1, 2.. N, N is a positive integer; u shapeXNX is A, B, C for the converter output phase voltage; the switching state of each power unit in the converter is controlled, so that the converter outputs step wave voltage to approach a reference voltage signal.
10. The virtual ground test method for the transmission chain of the wind turbine generator set according to claim 1, characterized in that: the method for establishing the virtual ground test working condition of the transmission chain comprises the following steps:
(1) Establishing single or combined working conditions including different wind speed models, different running states of a unit and different power grid conditions by referring to The International Electrotechnical Commission 61400-1 standard (edition 4.02019-02) or based on measured data and The like, wherein The wind speed models comprise: a normal wind speed model and an extreme wind speed model; the unit running state comprises: starting, normally generating, breaking down and stopping the unit; the grid conditions include normal grid conditions and fault grid conditions;
(2) working condition input is carried out at the corresponding position of the virtual ground test model of the transmission chain of the wind turbine generator; the wind speed model data is input into a tested unit load calculation model, unit state parameters or commands are input into a tested unit electrical control model, and power grid parameters are input into a power grid simulation control model.
11. The virtual ground test method for the transmission chain of the wind turbine generator set according to claim 1, characterized in that: the method for implementing the simulation analysis of the virtual ground test of the transmission chain comprises the following steps:
completing simulation analysis of the virtual ground test of the transmission chain based on the virtual ground test working condition of the transmission chain of the wind turbine generator set established in the step 4; analyzing and evaluating the load characteristic and the dynamic response characteristic of the tested transmission chain and the simulation control characteristic of the test platform based on the simulation result; the method comprises the following steps of obtaining time-domain load curves of key components of a transmission chain under different working conditions through load characteristic analysis, and further evaluating the ultimate strength and fatigue strength of the components of the transmission chain; evaluating the resonance characteristic, the electromechanical transient characteristic and the electric energy output characteristic of the transmission chain under the action of different working conditions through dynamic response analysis; and evaluating the simulation control effect of the wind turbine of the test platform, the five-degree-of-freedom non-torque load simulation control effect and the power grid simulation control effect through the simulation control characteristic analysis of the test platform so as to optimize the simulation control strategy.
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