CN111963388A - Multi-field coupling high-precision complete machine model building method for offshore wind turbine generator system - Google Patents
Multi-field coupling high-precision complete machine model building method for offshore wind turbine generator system Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
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Abstract
The invention discloses a multi-field coupling high-precision complete machine model building method for an offshore wind turbine generator, which comprises the following steps: reasonably simplifying a physical prototype of the whole wind turbine generator system to obtain a model topological graph of the whole wind turbine generator system, and establishing a mathematical-physical model of the wind turbine generator; dispersing all systems in a physical prototype of the whole system of the wind turbine generator, introducing a finite element method, and establishing a rigid-flexible coupling mechanical model by combining a multi-body dynamics method; respectively simplifying and modeling external environments such as wind and ocean current conditions, electric, hydraulic and control systems; a high-precision wind generating set model of a mechanical-electric-hydraulic-control internal multi-element coupling type is established through integration. The invention establishes the marine wind turbine generator set model of a mechanical-electrical-hydraulic-control internal multi-element coupling type, realizes the comprehensive deconstruction and complete analysis of the high-precision and multi-dimensional dynamic characteristics of the whole life cycle of the generator set, and realizes the accurate load simulation of the marine generator set.
Description
Technical Field
The invention relates to the technical field of simulation models of offshore wind turbines, in particular to a multi-field coupling high-precision complete machine model building method of an offshore wind turbine.
Background
In recent years, offshore wind turbines have developed in a blowout mode due to a number of obvious advantages, which are mainly reflected in that: (1) the occupation of land resources is reduced, and the requirement on the running environment of the wind turbine is lowered; (2) the sea surface is stable in flat wind speed, so that wind energy can be effectively and fully utilized, and fatigue load on a wind turbine can be reduced; (3) sea wind shear is relatively low and the boundary layer thickness of slow moving wind near sea level is very thin.
With the continuous expansion of the number of offshore wind turbine assembling machines, the capacity of a single machine and the diameter of a wind wheel are also continuously increased, and higher requirements are provided for the adaptability and the reliability of an offshore wind turbine generator set. The safety and reliability of the wind turbine unit face the threat of environmental factors such as typhoon, high temperature, humidity, salt fog, earthquake, ultraviolet rays, thunder and lightning. The existing wind turbine generator set and parts are generally independently designed, the safety and the generating capacity of the generator set are mainly concerned, and the problems of relatively conservative design, high electricity consumption cost and the like are caused due to insufficient consideration on multiple external excitations, coupling of internal parts of the generator set and the like in a complex environment.
How to ensure high reliability of the offshore wind turbine generator in a complex and variable environment and reduce the electricity consumption cost of the generator to the maximum is a challenge for designing the complete offshore wind turbine generator and parts thereof.
The key point for solving the problem is to get through the invisible barriers in the design, cooperate with multi-disciplinary means such as pneumatics, machinery, materials, electric control and the like, fully consider the complex environment and the excitation outside the power grid and the multi-element coupling effect inside the electromechanical-hydraulic-control, uniformly consider the high-reliability complete machine and key parts to develop the technical research of cooperative optimization design, and achieve the multi-objective comprehensive optimization of performance, load, reliability and cost.
The invention provides a low-cost, simple, safe, reliable and high-precision multi-field coupling complete machine modeling model method, which is a dynamic response analysis method taking complete machine dynamics of an offshore wind turbine as a core and establishes a high-precision offshore wind turbine set model in a mechanical-electrical-hydraulic-control internal multi-element coupling mode, so that accurate load simulation of the wind turbine set is realized, and the electricity consumption cost target of the wind turbine set is reduced.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a multi-field coupling high-precision complete machine model building method for an offshore wind turbine generator system, which fully considers complex environment and external excitation of a power grid and multi-element coupling action in electromechanical-hydraulic-control, uniformly considers highly reliable complete machines and key parts to develop collaborative optimization design technical research, achieves optimal comprehensive targets of performance, load, reliability and cost, realizes accurate load simulation of the offshore wind turbine generator system, and reduces the power consumption cost of the wind turbine generator system.
In order to solve the technical problem, the invention provides a multi-field coupling high-precision complete machine model building method for an offshore wind turbine generator, which comprises the following steps:
(1) reasonably simplifying a physical prototype of the whole offshore wind turbine generator system to obtain a model topological graph of the whole offshore wind turbine generator system, and establishing a mathematical-physical model of the offshore wind turbine generator system;
(2) dispersing all systems in a physical prototype of the whole system of the wind turbine generator, introducing a finite element method, and establishing a rigid-flexible coupling mechanical model by combining a multi-body dynamics method;
(3) respectively simplifying and modeling wind condition, sea condition external environment, electric, hydraulic and control systems;
(4) a high-precision wind generating set model of a mechanical-electric-hydraulic-control internal multi-element coupling type is established through integration.
Further improving, the high-precision wind condition modeling of the external environment in the step (3) mainly considers normal wind conditions and extreme wind conditions;
under normal wind conditions, the model comprises a normal wind profile model and a normal turbulence model;
under an extreme wind condition, the method comprises an extreme turbulence model, an extreme wind speed model, an extreme operation gust model, an extreme wind direction change model, a variable-direction extreme coherent gust model and an extreme wind shear model;
the high-precision sea for the external environment in the step (3)The condition modeling adopts a random wave model, the random wave model is formed by overlapping a plurality of small single-frequency components, each component is a periodic wave with independent amplitude, frequency and propagation direction, and a random phase relation exists between each component; each air volume consists of a spectrum S and a sense wave height HsSpectrum peak period TpAnd average wave direction thetawmTogether, and where appropriate supplemented by a directional distribution function;
the high-precision sea state modeling further comprises a normal flow model and an extreme flow model, and the influence of water level, sea ice and marine life on the dynamic load of the offshore wind turbine is considered.
Further improved, the modeling of the electricity in the step (3) comprises a power supply loop model, a power distribution protection loop model, a signal loop model, an automatic and manual mode control loop model, a driving and action execution loop model, a safety control and protection loop model and a grounding protection loop model.
Further improvement, the modeling of the hydraulic pressure in the step (3) comprises a hydraulic component model and a hydraulic pipeline model, and the hydraulic pipeline model comprises a seamless steel pipe model and a high-pressure hose flexible pipeline model.
Further improving, the modeling of the control system in the step (3) comprises a pitch control model, a torque control model, a brake control model, a state machine model, a fault setting model and a simulation result observation model;
the control system modeling method comprises a step of establishing a control system differential equation, a step of establishing a transfer function and a step of linearizing a nonlinear differential equation.
Further improving, the modeling of the mechanical structure in the step (3) comprises blade modeling, hub modeling, pitch system modeling, frame and support structure modeling, wind turbine main shaft modeling, gearbox modeling, high-speed coupling modeling, generator modeling, yaw system modeling, nacelle modeling, tower modeling and foundation modeling;
the requirements of each part modeling model and the requirements of the degree of freedom in the mechanical structure modeling are as follows:
the modeling of the blade is a blade aerodynamic model established based on a blade element-momentum theory, airfoil aerodynamics, a dynamic stall model and a Prandtl model, and during modeling, the blade is divided into a plurality of sections, and corresponding geometric parameters, mass distribution and rigidity distribution data and airfoil aerodynamic data are respectively input into the divided sections; the mass unbalance and pneumatic unbalance factors of the wind wheel are also considered during modeling of the blades, wherein the mass unbalance is caused by the manufacturing deviation of the blades and is not less than +/-0.3 degrees, and the pneumatic unbalance is caused by the appearance manufacturing deviation of the blades and the installation angle deviation of the blades;
the hub modeling is to establish an FEA model by using an Ansys finite element method, wherein four control points are respectively established at the connecting part of a blade and a variable pitch bearing and the connecting part of a hub and a main shaft, and the control nodes and a main node adopt rigid constraint;
the variable pitch system modeling comprises a variable pitch system main model and a component model, a variable pitch bearing in the variable pitch system main model is simplified into an inner ring and an outer ring, the inner ring has six degrees of freedom relative to the outer ring, and a bearing force element is applied between the inner ring and the outer ring; the component model comprises a reduction gearbox body, a gear and a shaft rigid body model, wherein the input shaft and the output shaft have six degrees of freedom relative to the reduction gearbox body and apply corresponding bearing force elements; the meshing between the gears adopts a multi-body dynamic method to provide a gear force element.
Further improving, the modeling of the frame and the support structure adopts an Abaqus finite element method to establish an FEA model, wherein four control points are arranged on a generator support, two control points are arranged on the bearing center of a gearbox, two control points are arranged on a main bearing seat, one control point is arranged on the center of a yaw bearing, each node is connected to the corresponding control point by using rigid constraint, each control point is used as a super unit node when a substructure is solved, and modal information of the support structure is solved, wherein Fx, Fy, Fz, My and Mz of the yaw control points are set as boundary conditions;
the modeling of the wind wheel main shaft adopts an Ansys finite element method to establish a model, four control points are arranged on four characteristic surfaces, each node is connected to the corresponding control point by using rigid constraint, each control point is used as a super unit node when a substructure is solved, and modal information of a super unit is solved, wherein RZ of a front bearing control point is a boundary condition.
Further improving, the modeling of the gearbox comprises modeling of a low-speed end planet carrier, modeling of an LSS sun shaft, modeling of an IMS input shaft, modeling of an HSS high-speed input shaft, modeling of a high-speed output shaft and modeling of a gear;
the generator modeling comprises a generator stator model and a rotor model, the stator model is fixedly connected with a cabin, the rotor model has six degrees of freedom relative to the stator model, a bearing force element is applied between the stator model and the rotor model, and the generating effect of the generator rotor model during rotation is realized by combining a generator rotating speed torque curve through a multi-body dynamics method;
the high-speed coupler modeling is established by adopting a multi-body dynamics method, and the torsional rigidity of the established high-speed coupler model is transmitted to the generator model through the force unit.
Further improving, the yaw system modeling comprises a yaw bearing model, a yaw driving model, a brake disc model and a brake caliper model, wherein the yaw bearing model and the yaw driving model establish a gear meshing model;
the influence of hydrodynamic drag coefficient and hydrodynamic inertia coefficient, as well as the density and thickness of marine organisms on the basic modeling should be considered in the basic modeling.
After adopting such design, the invention has at least the following advantages:
the invention forms an external environment, a mechanical structure, an electric system, a hydraulic system and a control system by dispersing all systems in a physical prototype of the whole offshore wind turbine generator system, and the external environment considers the wind condition and the sea condition and respectively models; and then a finite element method is introduced to disperse the flexible body, a multi-field coupling high-precision integral model suitable for the offshore wind turbine generator system is established by combining a multi-body dynamics method to carry out rigid-flexible coupling, the establishment of a mechanical-electric-hydraulic-control internal multi-element coupling type high-precision offshore wind turbine generator system model is realized, the load characteristic and the coupling transmission mechanism of the offshore wind turbine generator system in a complex environment are disclosed, a clear overall system topological structure and a dynamics differential equation set are established, a full system coupling high-precision dynamics mathematical model of the offshore wind turbine generator system is established, modeling technologies such as topological optimization division, substructure packaging and control dynamic link library embedding are provided, and a high-precision system-level dynamics dynamic model of a multi-discipline common platform such as pneumatics, structures and controls is established. The invention also provides a method for predicting and analyzing the dynamics and dynamic characteristics of the offshore wind turbine, so that the comprehensive deconstruction and complete analysis of the full life cycle high-precision and multi-dimensional dynamic characteristics of the offshore wind turbine are realized, the accurate load simulation of the offshore wind turbine is really realized, and the aim of reducing the power consumption cost of the offshore wind turbine is fulfilled.
Drawings
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
FIG. 1 is a model topology diagram of an offshore wind turbine plant overall system.
FIG. 2 is a model topology of the entire gearbox in an offshore wind turbine.
FIG. 3 is a graph of generator speed torque in an offshore wind turbine.
FIG. 4 is a block diagram of an electrical system in an offshore wind turbine.
FIG. 5 is a topological diagram of an overall model of a control system in an offshore wind turbine.
FIG. 6 is a vibration characteristic diagram of a wind wheel in a multi-field coupling high-precision complete machine model established by the invention.
FIG. 7 is a cloud diagram of the displacement of the whole-main frame in the multi-field coupling high-precision whole machine model established by the invention.
Detailed Description
The method for establishing the multi-field coupling high-precision complete machine model of the offshore wind turbine generator set comprises the following steps:
(1) and (3) reasonably assuming a physical prototype of the whole offshore wind turbine system, simplifying and obtaining a model topological graph of the whole offshore wind turbine system, and establishing a mathematical-physical model of the offshore wind turbine as shown in the attached figure 1.
(2) Dispersing each system in a physical prototype of the whole system of the wind turbine generator, introducing a finite element method, and establishing a rigid-flexible coupling mechanical model by combining a multi-body dynamics method.
(3) And respectively simplifying and modeling wind condition and sea condition external environment, electric, hydraulic and control systems.
(4) A high-precision wind generating set model of a mechanical-electric-hydraulic-control internal multi-element coupling type is established through integration.
And finally, analyzing the multi-field coupling high-precision whole machine model by using multi-body dynamics software, solving the numerical value, post-processing the solved result, and extracting the parameters to be optimized in the whole machine model so as to perform the next optimization analysis.
Wherein, the high-precision wind condition modeling of the external environment in the step (3) mainly considers normal wind conditions and extreme wind conditions. Normal wind conditions are those which are often encountered in the operation of an actual wind turbine, and the probability of occurrence of wind speed is assumed to be described in terms of a Rayleigh distribution. Under normal wind conditions, a normal wind profile model (NWP) and a Normal Turbulence Model (NTM) are employed.
Extreme wind conditions are a simplified model of the worst wind conditions that an offshore wind turbine may encounter in service, mainly considering six extreme wind conditions: an Extreme Turbulence Model (ETM), an extreme wind speed model (EWM), an extreme operating gust model (EOG), an extreme wind direction change model (EDC), a variable direction extreme coherent gust model (ECD), an extreme wind shear model (EWS). The extreme wind speed model (EWM) refers to a strong and persistent wind condition which may occur but rarely, and can be divided into 50-year-one extreme wind speed (Ve50) and one-year-one extreme wind speed (Ve 1). An extreme operating gust model (EOG) refers to a wind condition in which the wind speed suddenly increases and then decreases after a short time when a wind turbine operates. The extreme wind direction change model (EDC) means that extreme wind direction changes are defined in a manner similar to extreme gusts, i.e. wind direction changes greatly in a short time. The variable direction extreme coherent gust (ECD) refers to that in the variable direction extreme coherent gust, the increase of wind speed and the increase of wind direction occur simultaneously. Extreme Wind Shear (EWS) defines two transient wind shear wind conditions, one horizontal wind shear and the other vertical wind shear.
The high-precision sea state modeling method for the external environment in the step (3) comprises the following steps:
since waves are irregular in shape, vary in height, length and speed of travel, and can approach offshore wind turbines simultaneously from one or more directions, the best way to reflect true sea characteristics is to describe the sea state by a stochastic wave model. The random wave model is formed by superposing a plurality of small single-frequency components, and each component is a periodic wave with independent amplitude, frequency and propagation direction. These wave components have a random phase relationship between them.
Design sea state composed of spectrum S, sense wave height HsSpectrum peak period TpAnd average wave direction thetawmAre described together. Wherein the spectrum can be supplemented by a directional distribution function, where appropriate.
In some cases, normal wind conditions and the relative distribution of waves (multi-directional) can have a significant effect on the loads acting on the support structure. The magnitude of the effect depends on the directionality of the wind and waves, as well as the symmetry of the support structure.
The random wave model is defined according to random sea states and regular design waves. Wherein, the random wave model is based on a wave spectrum suitable for an expected site of the offshore wind generating set, and comprises the following steps:
normal flow model (NCM), which refers to the combination of the wind-generated flow at the appropriate specific site and the surface flow (as sometimes happens) corresponding to the generation of the breaking waves under normal wave conditions. The normal flow model does not include tidal and storm generated sub-surface flows, but includes extreme load conditions of normal and severe wave conditions (NSS, NWH, SSS, SWH), and should be used. For each load condition, the wind-induced flow velocity may be estimated from the corresponding average wind speed.
An extreme flow model (ECM) which refers to a combination of sub-surface flow, wind-generated flow, and surface flow generated by the fragmentation wave for a 1 year and 50 year recurrence period for the appropriate specific site. Extreme load conditions including extreme or reduced wave conditions (ESS, EWH, RWH) should employ an extreme flow model. It should be assumed for the above-mentioned load conditions that the sea current has the same recurrence period as the waves.
The water level should be considered when calculating the hydrodynamic load of the offshore wind turbine, and if the water level variation range of the site is large, the influence of the site on the calculated load should be considered. For extreme load conditions including normal wave conditions (NSS, NWH), a constant water level equal to Mean Sea Level (MSL) may be used.
Normal Water Level Range (NWLR), which should be assumed to be the range of water level variation for the 1 year recurrence period. In the absence of long-term water level probability distribution data for a particular site, the normal water level range should be assumed to be the range of variation between the Highest Astronomical Tide (HAT) and the Lowest Astronomical Tide (LAT). If based on sea state and wind speed combined probability distribution (H)s，Tp，Vhub) When the normal sea state model (NSS) of (1) is used for fatigue and extreme load conditions, a Normal Water Level Range (NWLR) should be used.
The limit load calculation should be based on the water level in the Normal Water Level Range (NWLR) that produces the maximum load, or on a reasonable consideration of the probability distribution of the water level in the Normal Water Level Range (NWLR).
For extreme load conditions associated with the harsh random sea state (SSS) and extreme wave height (SWH) models, water levels within the Normal Water Level Range (NWLR) may cause the wave height to be depth limited. To avoid that the wave height is limited by depth, a higher water level in the Extreme Water Level Range (EWLR) should be used.
For hydrodynamic fatigue load calculation, under certain conditions, it can be verified by appropriate analysis that the effect of water level changes on the fatigue load is negligible, or it can be demonstrated in a conservative manner, i.e. with a constant water level greater than or equal to the mean sea level.
Extreme Water Level Range (EWLR) should be employed for extreme load conditions associated with wave conditions over a 50 year recurrence period.
Sea ice, which in certain areas can produce a decisive load on the supporting structure of an offshore wind energy plant. The ice load may be a static load generated by a stationary ice cover or a dynamic load generated by the movement of floating ice under the action of wind and current. If the ice floes continuously impact the support structure over a longer period of time, significant fatigue loads may be generated.
Marine life, which affects the mass, geometry and surface condition of the support structure of an offshore wind turbine, can in turn affect the hydrodynamic load, dynamic response, accessibility and corrosion rate of the support structure. Therefore, the high-precision sea state modeling should consider the influence of water level, sea ice and marine life on the dynamic load of the offshore wind turbine.
The modeling of the mechanical structure in step (3) above includes most components in the offshore wind turbine, such as blades, hubs, pitch systems, frames and support structures, wind turbine main shafts, gear boxes, high-speed couplings, generators, yaw systems, nacelles, towers and foundations. The generator comprises a tower, a nacelle, a generator stator, a rotor, a bearing force element (No. 43 force element) and a feedback torque (No. 50 force element), wherein the tower is fixedly connected with the seabed ground, the nacelle is fixedly connected to the top of the tower, the generator stator is fixedly connected to the nacelle, blades of the generator have six degrees of freedom relative to the stator, and the bearing force element (No. 43 force element) and the feedback torque (No. 50 force element); the hub is fixedly connected to the generator blade; the gear box is fixedly connected on the main frame, and the variable pitch system (which is a substructure and comprises a variable pitch bearing and a variable pitch drive) is fixedly connected on the hub; the virtual variable pitch bearing is fixedly connected with an inner ring of a variable pitch bearing of the variable pitch system; the blades (existing as substructures) are fixed to virtual pitch bearings. The modeling of the mechanical structure comprises blade modeling, hub modeling, pitch system modeling, frame and support structure modeling, wind turbine main shaft modeling, gearbox modeling, high speed coupling modeling, generator modeling, yaw system modeling, nacelle modeling, tower modeling and foundation modeling.
The requirements of each part modeling model and the requirements of the degree of freedom in the mechanical structure modeling are shown in the following table 1:
table 1 shows the generator set component modeling model requirements and the degree of freedom requirements.
Specifically, the blade modeling is a blade aerodynamic model established based on a blade element-momentum theory, airfoil aerodynamics, a dynamic stall model and a Prandtl model, and during modeling, the blade is divided into a plurality of sections, and corresponding geometric parameters, mass distribution and rigidity distribution data and airfoil aerodynamic data are respectively input into the divided sections according to a design concept. Aerodynamic data of all airfoils must contain coefficients of Cl, Cd, Cm of ± 180 degrees; the Cl, Cm coefficient curves are substantially antisymmetrical about the y-axis; the Cd coefficient curve is generally directly symmetric about the y-axis. The mass unbalance and pneumatic unbalance factors of the wind wheel are also considered during blade modeling, wherein the mass unbalance is caused by the manufacturing deviation of the blades and is not less than +/-0.3 degrees, namely the initial angles of the three blades are-0.3 degrees, 0 degrees and +0.3 degrees respectively; the aerodynamic imbalance is caused by blade profile manufacturing variations and blade mounting angle variations.
In the hub modeling, an Ansys finite element method is used for establishing an FEA model, wherein four control points are respectively established at the connection part of a blade and a variable pitch bearing and the connection part of a hub and a main shaft, and the control nodes and a main node adopt rigid constraint; the model calculation adopts a form of a superunit, and the hub and the spindle are connected with control points to constrain boundary conditions of all degrees of freedom. The flexible body, which is also established by the multi-body dynamics FEMBS module in the hub modeling, must contain a certain number of modes to ensure that the first order torsional mode is contained.
The pitch system modeling comprises a pitch system main model and a component model. The pitch bearing in the main model of the pitch system is simplified into an inner ring and an outer ring, the inner ring has six degrees of freedom relative to the outer ring, and a bearing force element (No. 43 force element) is applied between the inner ring and the outer ring; the component model comprises a reduction gearbox body, a gear and a shaft rigid body model, wherein the input shaft and the output shaft have six degrees of freedom relative to the reduction gearbox body and apply corresponding bearing force elements; the remaining elements all release rotational freedom. The meshing between the gears is realized by adopting a No. 225 gear force element provided by a multi-body dynamic method.
The modeling of the frame and the supporting structure adopts an Abaqus finite element method to establish an FEA model, wherein four control points are arranged on a generator support, two control points are arranged on the bearing center of a gearbox, two control points are arranged on a main bearing seat, one control point is arranged on the center of a yaw bearing, each node is connected to the corresponding control point by using rigid constraint, each control point is used as a super unit node when a substructure is solved, and modal information of the supporting structure is solved, wherein Fx, Fy, Fz, My and Mz of the yaw control points are set as boundary conditions.
The modeling of the wind wheel main shaft adopts an Ansys finite element method to establish a model, four control points are arranged on four characteristic surfaces, each node is connected to the corresponding control point by using rigid constraint, each control point is used as a super unit node when a substructure is solved, and modal information of a super unit is solved, wherein RZ of a front bearing control point is a boundary condition.
The topology of the gear box is used as an important component of the doubly-fed wind turbine generator and is an important ring of the reliability of the whole wind turbine generator, the gear box is connected with the main frame, the high-speed shaft and the low-speed shaft, and the topological relation of the whole gear box is shown in an attached drawing 2.
The modeling of the gearbox comprises low-speed end planet carrier modeling, LSS sun shaft modeling, IMS input shaft modeling, HSS high-speed input shaft modeling, high-speed output shaft modeling and gear modeling.
Wherein, the modeling of the planet carrier at the low-speed end is as follows: a finite element model of a planet carrier at the low-speed end of the gearbox is established in Ansys. A second order tetrahedral unit is employed. Six control points are arranged in the center of the pin hole, and rigid constraint is adopted between the control points and the corresponding areas. Planetary gear pins (260 mm diameter) were fixed in front of the socket control points at both ends and modeled using BEAM4 cell. Two control points are arranged on the support center, and rigid constraint is adopted between the control points and the corresponding areas. A control point is established at the center point of the connecting end face of the rotating shaft, and rigid constraint is adopted. When solving the sub-components, six control points are used as super node elements, which are respectively: three middle points on the pin shaft beam, two supporting bearing center points and a torque input center point.
Modeling an LSS solar shaft: a finite element model of the LSS sun shaft was built in Ansys. The control points are established at the sun gear center and the spline joint center. The spline region employs rigid constraint while the sun gear employs distributed force constraint. Two control points are used as superunit nodes for sub-structure unit computation.
IMS input shaft modeling: a finite element model of the IMS input shaft is built in Ansys. The control points are established at the centers of the two bearings and the gears, and at the center of the LSS sun shaft and spline joint. Each control point and the corresponding slave node are constrained by a rigid or force component. The control points are used as superunit nodes for sub-structure unit computation.
Modeling an HSS high-speed input shaft: a finite element model of the HSS high speed input shaft is built in Ansys. The control point is established at the bearing and gear center. Rigid or distributed force constraints are employed between each control point and the corresponding slave node. The control points are used as superunit nodes for sub-structure unit computation.
Modeling a high-speed output shaft: a finite element model of the HSS high-speed output shaft is established in Ansys. The control points are established at the center bearing, the gear and the output interface. Rigid or distributed force constraints are employed between each control point and the corresponding slave node. The control points are used as superunit nodes for sub-structure unit computation.
Modeling a gear: a three-dimensional model of the gear was built in the multi-body dynamics software according to the parameters in the table below. In calculating the engagement force, the most important geometrical information will be for the particular force unit (gear pair fe-225). The rigidity of the meshing pair of the gears can be obtained through the output result of the force unit fe-225 of the multi-body dynamics. At rated load, mesh stiffness is achieved by applying a rated torque to the low-speed end planet carrier.
The torque arm connects the gearbox to the resilient support, and the considerable flexibility that can be provided by its cantilevered structure is not negligible. Therefore, a finite element model of the torque arm is built in Ansys. A second order tetrahedral unit is employed. The control point is established on the geometric center of the planet wheel, and rigid constraint is adopted between the master control node and the slave control area. The boundary conditions are applied to the arm in a manner similar to real contact.
The generator modeling comprises a generator stator model and a rotor model, the stator model is fixedly connected with a cabin, the rotor model has six degrees of freedom relative to the stator model, a bearing force element is applied between the stator model and the rotor model, and the power generation effect of the generator rotor model during rotation is realized by combining a generator rotating speed and torque curve through a multi-body dynamics method. The generator speed torque curve is shown in figure 3.
The high-speed coupler belongs to a flexible body with mass and rigidity, the high-speed coupler is built by adopting a multi-body dynamics method, and the torsional rigidity of the built high-speed coupler model is transmitted to a generator model through a force unit.
The yaw system modeling comprises a yaw bearing model, a yaw driving model, a brake disc model and a brake caliper model, wherein the yaw bearing model and the yaw driving model establish a gear meshing model;
as the influence of the engine room of the offshore wind turbine generator on the load result of the generator set in the analog simulation calculation process is not great, the model of the engine room can be simplified to avoid the complexity of the system. The nacelle can be regarded as a hexahedron only, and then the mass, the position of the center of mass, the rotational inertia and other data are specified to realize modeling.
And (3) tower modeling, namely dividing the offshore wind turbine generator tower into a plurality of small sections along the axial direction, formulating data such as diameter, thickness, rigidity distribution, mass distribution and the like of each small section, and establishing an offshore wind turbine generator tower model by adopting beam units. Since the modeling of the tower is critical to the system modal impact, the material properties should conform to those of standard steel (density 7850 kg/m)3Young's modulus 2.1e11Pa), the auxiliary mass of the tower considering the weight of each section of flange and considering the material density 5% above the standard steel density (density 8242.5 kg/m)3) Air resistanceThe coefficient was taken to be 0.6.
Since the fundamental stiffness has a large influence on the tower frequency, it has to be considered in the computational modeling to reduce the computational deviation on demand. The hydrodynamic drag coefficient and hydrodynamic inertia coefficient should also be considered in the basic modeling. The hydrodynamic resistance coefficient is generally 1, and the hydrodynamic resistance coefficient can be set for each jacket; the hydrodynamic inertia coefficient is generally 2, and may be set for each jacket. The effect of the density and thickness of marine life on the underlying modeling should also be considered.
Modeling of the Electrical in the above step (3)
The wind turbine generator electrical system is a control core and an optimized implementation means for realizing the functions of wind energy capture, energy conversion, energy transmission and the like of the generator. The basic functions of the electrical system mainly comprise the following points: designing an automatic start-stop wind turbine generator; designing motor switching control; designing grid connection control; automatic cable untwisting and yaw design; designing human-computer interactive control; designing brake control; and (4) designing in other aspects.
The wind generating set electrical system comprises an electrical system and an electrical control system. The electric system is a system formed by low-voltage power supply combined components, mainly provides power supplies of different levels for offshore groups, and is generally commonly called a low-voltage power distribution system. The electric control system is formed by combining a plurality of electric elements and is used for controlling a certain object or certain objects so as to ensure that a controlled device safely and reliably operates, and the electric control system has the main functions of: automatic control, protection, monitoring and measurement. Generally known as the secondary control loop of the electrical equipment.
The electric modeling comprises a power supply loop model, a power distribution protection loop model, a signal loop model, an automatic and manual mode control loop model, a driving and action execution loop model, a safety control and protection loop model and a grounding protection loop model. As shown in fig. 4.
Modeling of the hydraulic pressure in the above step (3)
The yaw system of the grid-connected wind generating set is generally provided with a hydraulic device, and the hydraulic device is used for dragging a yaw brake to release or lock. The hydraulic pipeline is generally made of seamless steel pipes, and the connecting part of the flexible pipeline is made of a proper high-pressure hose. The bolted pipe connection assembly should be experimentally assured of the required sealing and bearing of the dynamic loads that occur during operation of the yaw system. The design, selection and arrangement of the hydraulic components are in accordance with the relevant specific regulations and requirements of the hydraulic device. The hydraulic lines should be able to remain clean and have good oxidation resistance. The hydraulic system should not leak at the rated operating pressure.
In this embodiment, the modeling of the hydraulic pressure includes a hydraulic component model and a hydraulic pipeline model, and the hydraulic pipeline model includes a seamless steel pipe model and a high-pressure hose flexible pipeline model.
Modeling of the control system in the above step (3)
The control system of the wind generating set is used for coordinating main and auxiliary equipment such as an impeller, a transmission mechanism, yawing, braking and the like, ensuring safe and stable operation of the equipment of the offshore wind generating set, and generally refers to a system for receiving information of the wind generating set and working operation environment thereof and adjusting the wind generating set to operate according to preset requirements. The control system improves the operation efficiency of the wind generating set by controlling the actuating mechanism, and ensures the safe operation of the wind generating set; the control system detects faults of the wind generating set, particularly faults such as overspeed, vibration, overpower, overheating and the like, and takes perfect protection measures.
The wind turbine generator control system is a key technology of the whole machine design and determines the performance and the structural load size and distribution of the generator. A high-performance wind generating set control system can improve the annual generating efficiency of the set, improve the electric energy quality, reduce the material utilization rate, reduce the noise and reduce the manufacturing cost.
The modeling of the control system comprises a variable pitch control model, a torque control model, a brake control model, a state machine model, a fault setting model and a simulation result observation model; as shown in fig. 5.
A variable pitch control model: the method comprises the steps of controlling a pitch angle PI and controlling various constant-speed variable pitches; the pitch control is that three blades are respectively controlled by the same strategy, and the model comprises pitch PI control, normal shutdown, rapid shutdown, emergency shutdown and power grid power failure shutdown pitch control.
A torque control model: the model comprises three control strategies of torque PI control, constant speed variable torque and constant torque of 0.
A brake control model: comprises a brake model; the brake is divided into two states: and (5) no braking and braking. When the vehicle is not braked, the output braking torque is 0. After the brake is started, the brake torque reaches the maximum value within 0.4 s.
A state machine model: judging and switching logic of each working condition; when the wind turbine generator operates in a speed change stage, in order to achieve maximum wind energy capture, the wind energy utilization coefficient is required to be controlled to reach the maximum value, and the generator torque and the generator rotating speed are optimally matched. When the fan reaches rated power, the pitch angle needs to be changed to adjust the blades to stabilize the power. According to different wind speeds, the main control process can be divided into the following four stages: the method comprises the following steps of cutting-in stage, constant rotating speed control, speed changing stage, optimal power curve tracking, rated rotating speed stage, constant rotating speed control, rated power stage and constant power control.
A fault setting model: setting faults of a generator speed sensor, a variable pitch fault and a generator short-circuit fault;
simulation result observation model: the simulation result is displayed in the form of an oscilloscope or stored in a working space by the results of the rotating speed of the generator, the torque of the generator, the generated power, the pitch angle, the fore-and-aft acceleration of the engine room and the like;
the modeling method of the control system in the embodiment comprises a step of establishing a differential equation of the control system, a step of establishing a transfer function and a step of linearizing a nonlinear differential equation.
In addition, the control system modeling further includes: the system comprises a variable pitch rotating speed set point selection module, a generator rotating speed sensor fault realization module, a yaw control interface and other auxiliary calculation modules.
The high-precision offshore wind turbine generator-electric-hydraulic-control internal multi-element coupling type model established by the invention can realize generator set dynamic simulation, whole life cycle load simulation of the offshore wind turbine generator and vibration characteristic analysis of a transmission chain, and is shown in figure 6.
The flexible stress, strain state and displacement cloud pictures of the whole offshore wind turbine blade, main shaft, frame and the like can be extracted from dynamic simulation, as shown in the attached figure 7. The structure safety of the unit flexibility can be judged from the extracted result. The dynamic simulation can truly reflect the change characteristics of stress, strain and displacement of the offshore wind turbine component.
From the whole life cycle load simulation of the offshore wind generating set, different running states of the main simulation wind generating set are roughly eight conditions on the basis: the method has the advantages that accurate load simulation of the offshore wind turbine generator set is really realized by the aid of power generation working conditions, fault power generation working conditions, starting, normal shutdown, emergency shutdown, standby, fault standby, transportation, assembly, maintenance and repair, and the aim of reducing the power consumption cost of the offshore wind turbine generator set is fulfilled.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
Claims (10)
1. A multi-field coupling high-precision complete machine model building method for an offshore wind turbine is characterized by comprising the following steps:
(1) reasonably simplifying a physical prototype of the whole offshore wind turbine generator system to obtain a model topological graph of the whole offshore wind turbine generator system, and establishing a mathematical-physical model of the offshore wind turbine generator system;
(2) dispersing all systems in a physical prototype of the whole system of the wind turbine generator, introducing a finite element method, and establishing a rigid-flexible coupling mechanical model by combining a multi-body dynamics method;
(3) respectively simplifying and modeling wind condition, sea condition external environment, electric, hydraulic and control systems;
(4) a high-precision wind generating set model of a mechanical-electric-hydraulic-control internal multi-element coupling type is established through integration.
2. The method for establishing the multi-field coupling high-precision complete machine model of the offshore wind turbine generator system according to claim 1, wherein the high-precision wind condition modeling of the external environment in the step (3) mainly considers normal wind conditions and extreme wind conditions;
under normal wind conditions, the model comprises a normal wind profile model and a normal turbulence model;
under an extreme wind condition, the method comprises an extreme turbulence model, an extreme wind speed model, an extreme operation gust model, an extreme wind direction change model, a variable-direction extreme coherent gust model and an extreme wind shear model;
in the step (3), a random wave model is adopted for high-precision sea state modeling of the external environment, the random wave model is formed by overlapping a plurality of small single-frequency components, each component is a periodic wave with independent amplitude, frequency and propagation direction, and random phase relation exists among the components; each component consisting of a spectrum S, a sense wave height HsSpectrum peak period TpAnd average wave direction thetawmTogether, and where appropriate supplemented by a directional distribution function;
the high-precision sea state modeling further comprises a normal flow model and an extreme flow model, and the influence of water level, sea ice and marine life on the dynamic load of the offshore wind turbine is considered.
3. The method for establishing the multi-field coupling high-precision complete machine model of the offshore wind turbine generator system according to claim 1, wherein the modeling of the electricity in the step (3) comprises a power supply loop model, a power distribution protection loop model, a signal loop model, an automatic and manual mode control loop model, a driving and action execution loop model, a safety control and protection loop model and a grounding protection loop model.
4. The method for establishing the multi-field coupling high-precision complete machine model of the offshore wind turbine generator system according to claim 1, wherein the hydraulic modeling in the step (3) comprises a hydraulic component model and a hydraulic pipeline model, and the hydraulic pipeline model comprises a seamless steel pipe model and a high-pressure hose flexible pipeline model.
5. The method for establishing the multi-field coupling high-precision complete machine model of the offshore wind turbine generator system according to claim 1, wherein the modeling of the control system in the step (3) comprises a pitch control model, a torque control model, a brake control model, a state machine model, a fault setting model and a simulation result observation model;
the control system modeling method comprises a step of establishing a control system differential equation, a step of establishing a transfer function and a step of linearizing a nonlinear differential equation.
6. The method for establishing the multi-field coupling high-precision complete machine model of the offshore wind turbine generator system according to claim 1, wherein the modeling of the mechanical structure in the step (3) comprises blade modeling, hub modeling, pitch system modeling, frame and support structure modeling, wind wheel spindle modeling, gearbox modeling, high-speed coupling modeling, generator modeling, yaw system modeling, nacelle modeling, tower modeling and foundation modeling;
the requirements of each part modeling model and the requirements of the degree of freedom in the mechanical structure modeling are as follows:
7. the method for establishing the multi-field coupling high-precision complete machine model of the offshore wind turbine generator system according to claim 6, wherein the blade modeling is a blade aerodynamic model established based on a blade voxel-momentum theory, airfoil aerodynamics, a dynamic stall model and a Prandtl model, and during modeling, the blade is divided into a plurality of sections, and corresponding geometric parameters, mass distribution and rigidity distribution data and airfoil aerodynamic data are respectively input into the divided sections; the mass unbalance and pneumatic unbalance factors of the wind wheel are also considered during modeling of the blades, wherein the mass unbalance is caused by the manufacturing deviation of the blades and is not less than +/-0.3 degrees, and the pneumatic unbalance is caused by the appearance manufacturing deviation of the blades and the installation angle deviation of the blades;
the hub modeling is to establish an FEA model by using an Ansys finite element method, wherein four control points are respectively established at the connecting part of a blade and a variable pitch bearing and the connecting part of a hub and a main shaft, and the control nodes and a main node adopt rigid constraint;
the variable pitch system modeling comprises a variable pitch system main model and a component model, a variable pitch bearing in the variable pitch system main model is simplified into an inner ring and an outer ring, the inner ring has six degrees of freedom relative to the outer ring, and a bearing force element is applied between the inner ring and the outer ring; the component model comprises a reduction gearbox body, a gear and a shaft rigid body model, wherein the input shaft and the output shaft have six degrees of freedom relative to the reduction gearbox body and apply corresponding bearing force elements; the meshing between the gears adopts a multi-body dynamic method to provide a gear force element.
8. The method for establishing the multi-field coupling high-precision complete machine model of the offshore wind turbine generator system according to claim 6, wherein the modeling of the machine frame and the supporting structure adopts an Abaqus finite element method to establish an FEA model, wherein four control points are arranged on a generator support, two control points are arranged on a bearing center of a gearbox, two control points are arranged on a main bearing seat, one control point is arranged on a yaw bearing center, each node is connected to the corresponding control point by using rigid constraint, each control point is used as a super unit node when a substructure is solved, and modal information of the supporting structure is solved, wherein Fx, Fy, Fz, My and Mz of the yaw control points are set as boundary conditions;
the modeling of the wind wheel main shaft adopts an Ansys finite element method to establish a model, four control points are arranged on four characteristic surfaces, each node is connected to the corresponding control point by using rigid constraint, each control point is used as a super unit node when a substructure is solved, and modal information of a super unit is solved, wherein RZ of a front bearing control point is a boundary condition.
9. The method for establishing the multi-field coupling high-precision complete machine model of the offshore wind turbine generator system according to claim 6, wherein the gear box modeling comprises low-speed end planet carrier modeling, LSS sun shaft modeling, IMS input shaft modeling, HSS high-speed input shaft modeling, high-speed output shaft modeling and gear modeling;
the generator modeling comprises a generator stator model and a rotor model, the stator model is fixedly connected with a cabin, the rotor model has six degrees of freedom relative to the stator model, a bearing force element is applied between the stator model and the rotor model, and the generating effect of the generator rotor model during rotation is realized by combining a generator rotating speed torque curve through a multi-body dynamics method;
the high-speed coupler modeling is established by adopting a multi-body dynamics method, and the torsional rigidity of the established high-speed coupler model is transmitted to the generator model through the force unit.
10. The method for establishing the multi-field coupling high-precision complete machine model of the offshore wind turbine generator system according to claim 6, wherein the yaw system modeling comprises a yaw bearing model, a yaw driving model, a brake disc model and a brake caliper model, wherein the yaw bearing model and the yaw driving model establish a gear meshing model;
the influence of hydrodynamic drag coefficient and hydrodynamic inertia coefficient, as well as the density and thickness of marine organisms on the basic modeling should be considered in the basic modeling.
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