CN111963388B - Multi-field coupling complete machine model building method of offshore wind turbine generator - Google Patents
Multi-field coupling complete machine model building method of offshore wind turbine generator Download PDFInfo
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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
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
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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
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
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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
- 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
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
- F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a multi-field coupling high-precision complete machine model building method of an offshore wind turbine, which comprises the following steps: reasonably simplifying a physical prototype of a complete machine system of the wind turbine, obtaining a model topological diagram of the complete machine system of the wind turbine, and establishing a mathematical-physical model of the wind turbine; dispersing each system in a physical prototype of the whole wind turbine system, introducing a finite element method, and establishing a rigid-flexible coupling mechanical model by combining a multi-body dynamics method; the modeling is simplified for external environments such as wind, ocean current conditions, and the like, and electric, hydraulic and control systems respectively; and (3) establishing a high-precision wind turbine generator model of a mechanical-electrical-hydraulic-control internal multi-element coupling type through integration. The invention establishes a multi-element coupling type offshore wind turbine model in the electromechanical-hydraulic-control, realizes the complete deconstruction and complete analysis of the full life cycle high precision and multi-dimensional dynamic characteristics of the offshore wind turbine, and realizes the accurate load simulation of the offshore wind turbine.
Description
Technical Field
The invention relates to the technical field of offshore wind turbine simulation models, in particular to a multi-field coupling high-precision complete machine model building method of an offshore wind turbine.
Background
In recent years, the offshore wind turbine has developed well blowout due to a plurality of obvious advantages, and the advantages are mainly represented by: (1) The occupation of land resources is reduced, and the requirements on the running environment of the wind turbine are lowered; (2) The flat wind speed on the sea surface is stable, so that wind energy can be effectively and fully utilized, and fatigue load on a wind turbine can be reduced; (3) The sea shear strain is relatively low and the boundary layer thickness of the wind, which slowly moves near the sea level, is very thin.
Along with the continuous expansion of the number of offshore wind turbine generators, the single-machine capacity and the diameter of wind wheels are also continuously increased, and higher requirements are put on the adaptability and the reliability of the offshore wind turbine generators. The safety and reliability of the wind turbine generator set face the threat of typhoon, high temperature, humidity, salt fog, earthquake, ultraviolet rays, thunder and lightning and other environmental factors. The existing wind turbine generator and parts commonly adopt independent designs, mainly concern about the safety and the generated energy of the wind turbine generator, and have insufficient consideration on multiple external excitation, coupling of parts in the wind turbine generator and the like in a complex environment, so that the problems of relatively conservative design, high electricity-measuring cost and the like are caused.
How to ensure the high reliability of the offshore wind turbine in complex and changeable environments and to reduce the electricity cost of the offshore wind turbine to the maximum extent is a challenge for designing the whole offshore wind turbine and parts thereof.
The key to solve the problem is to open the invisible barriers in the design, cooperate with the multidisciplinary means such as pneumatic, mechanical, material, electric control and the like, fully consider the complex environment and the external excitation of the power grid, and the internal multielement coupling effect of the electromechanical-electro-hydraulic-control, uniformly consider the high-reliability complete machine and key parts to develop the collaborative optimization design technology research, 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 a machine-electricity-liquid-control internal multi-element coupling mode is used for establishing a high-precision offshore wind turbine model, so that accurate load simulation of a wind turbine is realized, and the aim of reducing the electricity-measuring cost of the wind turbine is fulfilled.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-field coupling high-precision complete machine model building method of an offshore wind turbine, which fully considers complex environments and external excitation of a power grid and internal multi-element coupling effects of electromechanical-electro-hydraulic-control, uniformly considers a high-reliability complete machine 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, and reduces the electromechanical cost of the offshore wind turbine.
In order to solve the technical problems, the invention provides a multi-field coupling high-precision complete machine model building method of an offshore wind turbine, which comprises the following steps:
(1) Reasonably simplifying a physical prototype of the complete machine system of the offshore wind turbine, obtaining a model topological diagram of the complete machine system of the offshore wind turbine, and establishing a mathematical-physical model of the offshore wind turbine;
(2) Dispersing each system in a physical prototype of the whole wind turbine system, introducing a finite element method, and establishing a rigid-flexible coupling mechanical model by combining a multi-body dynamics method;
(3) The modeling is simplified for the wind condition and the sea condition external environment, the electric, hydraulic and control systems respectively;
(4) And (3) establishing a high-precision wind turbine generator model of a mechanical-electrical-hydraulic-control internal multi-element coupling type through integration.
Further improvement, 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, a normal wind profile model and a normal turbulence model are included;
in extreme wind conditions, 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 state modeling of the external environment in the step (3) adopts a random wave model, wherein the random wave model is formed by superposing a plurality of small single-frequency components, each component is a periodic wave with independent amplitude, frequency and propagation direction, and each component has a random phase relation; each air volume consists of a spectrum S and a sense wave height H s Spectral peak period T p And average wave direction theta wm Together, and where appropriate, spectrum S is complemented by a directional distribution function;
the high-precision sea state modeling further comprises a normal flow model and an extreme flow model, and influences of water level, sea ice and sea creatures on the power load of the offshore wind turbine are considered.
Further improved, the modeling of 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 ground protection loop model.
Further improved, the modeling of the hydraulic pressure in the step (3) comprises a hydraulic component model and a hydraulic pipeline model, wherein the hydraulic pipeline model comprises a seamless steel pipe model and a high-pressure hose flexible pipeline model.
Further improvement, 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 control system differential equation building step, a transfer function building step and a nonlinear differential equation linearization step.
Further improvements, modeling the mechanical structure in the step (3) includes blade modeling, hub modeling, pitch system modeling, frame and support structure modeling, wind wheel main shaft modeling, gearbox modeling, high-speed coupling modeling, generator modeling, yaw system modeling, cabin modeling, tower modeling and foundation modeling;
the modeling model requirements and the degree of freedom requirements of each part in the mechanical structure modeling are as follows:
the method is characterized by further improving the blade modeling, wherein the blade modeling is a blade aerodynamic model established based on a blade element-momentum theory, an airfoil aerodynamics, a dynamic stall model and a Prandtl model, and when the blade aerodynamic model is used for 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 to the divided sections; the mass unbalance and aerodynamic unbalance factors of the wind wheel are also considered in the blade modeling, wherein the mass unbalance is caused by blade manufacturing deviation, the deviation is between-0.3 and 0.3 degrees, and the aerodynamic unbalance is caused by blade appearance manufacturing deviation and blade installation angle deviation;
the hub modeling is to build an FEA model by using an Ansys finite element method, wherein four control points are respectively built at the connection part of the blade and the variable-pitch bearing and the connection part of the hub and the main shaft, and the control node and the main node adopt rigid constraint;
the variable pitch system modeling comprises a variable pitch system main model and a component model, wherein 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 bearing force elements are 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 provides gear force elements using a multi-body dynamics approach.
Further improving, 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 a gearbox supporting center, 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 solving a substructure, and the modal information of the supporting structure is solved, wherein Fx, fy, fz, my, mz of the yaw control points is set as boundary conditions;
the wind wheel spindle modeling adopts an Ansys finite element method to build a model, four control points are arranged on four characteristic surfaces, each node is connected to a corresponding control point by using rigid constraint, each control point is used as a super unit node when a substructure is solved, modal information of a super unit is solved, and RZ of a front bearing control point is a boundary condition.
Further improvements, the gearbox modeling includes low-speed side 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, wherein the stator model is fixedly connected with the engine room, the rotor model has six degrees of freedom relative to the stator model, bearing force elements are 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 multi-body dynamics method with a generator rotating speed torque curve;
the high-speed coupling modeling is established by adopting a multi-body dynamics method, and torsional rigidity of the established high-speed coupling model is transmitted to the generator model through a force unit.
Further improved, 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 engagement model;
the basic modeling should take into account the hydrodynamic drag coefficient and the hydrodynamic inertia coefficient, as well as the influence of the sea biological density and the thickness on the basic modeling.
With such a design, the invention has at least the following advantages:
according to the invention, by dispersing each system in the physical prototype of the complete machine system of the offshore wind turbine, an external environment, a mechanical structure, an electric system, a hydraulic system and a control system are formed, and the external environment considers the environment of both wind conditions and sea conditions and models the wind conditions and the sea conditions respectively; and then, a finite element method is introduced to discrete the flexible body, rigid-flexible coupling is carried out by combining a multi-body dynamics method, a multi-field coupling high-precision complete machine model suitable for the offshore wind turbine is built, the establishment of a high-precision offshore wind turbine model in a multi-element coupling mode in a mechanical-electric-liquid-control internal is realized, the load characteristic and the coupling transmission mechanism of the offshore wind turbine under a complex environment are revealed, a clear complete machine system topological structure and a dynamics differential equation set are established, a high-precision dynamics mathematical model of the complete system coupling of the offshore wind turbine is constructed, modeling technologies such as topological optimization division, substructure encapsulation and dynamic link library embedding are provided, and a high-precision system-level dynamics dynamic model of a multi-disciplinary co-platform such as pneumatic, structure and control is constructed. The invention also provides a method for predicting and analyzing the dynamics and dynamic characteristics of the offshore wind turbine, which realizes the complete deconstruction and complete analysis of the full life cycle high precision and multi-dimensional dynamic characteristics of the offshore wind turbine, truly realizes the accurate load simulation of the offshore wind turbine, and achieves the aim of reducing the electricity-measuring cost of the offshore wind turbine.
Drawings
The foregoing is merely an overview of the present invention, and the present invention is further described in detail below with reference to the accompanying drawings and detailed description.
FIG. 1 is a model topology of an offshore wind turbine complete system.
FIG. 2 is a model topology of the entire gearbox in an offshore wind turbine.
FIG. 3 is a graph of generator speed and 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 topology diagram of an overall model of a control system in an offshore wind turbine.
FIG. 6 is a diagram of vibration characteristics of wind wheels in a multi-field coupling high-precision complete machine model established by the invention.
FIG. 7 is a full-body-main frame displacement cloud image in a multi-field coupling high-precision full-machine model established by the invention.
Detailed Description
The multi-field coupling high-precision complete machine model building method of the offshore wind turbine generator set comprises the following steps:
(1) Reasonable assumption is carried out on a physical prototype of the complete machine system of the offshore wind turbine, a model topological diagram of the complete machine system of the offshore wind turbine is simplified and obtained, and a mathematical-physical model of the offshore wind turbine is established as shown in figure 1.
(2) And dispersing each system in a physical prototype of the whole wind turbine system, introducing a finite element method, and establishing a rigid-flexible coupling mechanical model by combining a multi-body dynamics method.
(3) And the modeling is simplified for the wind condition and the sea condition external environment, the electric, hydraulic and control systems respectively.
(4) And (3) establishing a high-precision wind turbine generator model of a mechanical-electrical-hydraulic-control internal multi-element coupling type through integration.
And finally, analyzing the multi-field coupling high-precision complete machine model by utilizing multi-body dynamics software, carrying out numerical solution, carrying out post-processing on a solution result, extracting parameters to be optimized in the complete machine model, and carrying out the next optimization analysis.
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 wind conditions that are often encountered in actual wind turbine operation, and the probability of occurrence of wind speeds is assumed to be described in terms of a Rayleigh distribution. In normal wind conditions, a normal wind profile model (NWP) and a Normal Turbulence Model (NTM) are employed.
The extreme wind conditions are the least adverse wind condition simplified model which is possibly encountered by the offshore wind turbine in service, and six extreme wind conditions are mainly considered: an Extreme Turbulence Model (ETM), an extreme wind speed model (EWM), an extreme operation 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 continuous wind condition that may occur rarely, and may be divided into an extreme wind speed of 50 years (Ve 50) and an extreme wind speed of one year (Ve 1). An extreme operating gust model (EOG) refers to a wind condition in which the wind speed suddenly increases and decreases after a short period of time while the wind turbine is operating. An extreme wind direction change model (EDC) refers to an extreme wind direction change that is defined in a manner similar to an extreme gust, i.e. a large change in wind direction occurs in a short period of time. The variable direction extremely coherent gust (ECD) means that in the variable direction extremely coherent gust, an increase in wind speed occurs simultaneously with an increase in wind direction. Extreme Wind Shear (EWS) defines two transient wind shear wind conditions, one horizontal and the other vertical.
The high-precision sea state modeling method for the external environment in the step (3) comprises the following steps:
because the wave shape is irregular, the wave height, length and propagation speed also vary, and offshore wind turbines can be accessed simultaneously from one or more directions, the best way to reflect the true ocean characteristics is to describe the sea state by a random wave model. The random wave model is composed of a superposition of small single frequency components, each of which is a periodic wave with independent amplitude, frequency and direction of propagation. These wave components have a random phase relationship between them.
Designed sea conditions are defined by wave spectrum S and sense wave height H s Spectral peak period T p Average wave direction θ wm Together with the description. Where appropriate, the spectrum can be supplemented by a directional distribution function.
In some cases, the normal wind conditions and the wave dependence profile (multi-directional) can have a significant impact on the load acting on the support structure. The magnitude of the influence 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 conditions and regular design waves. Wherein the random wave model should be based on a spectrum suitable for the expected site of the offshore wind park, comprising:
normal flow model (NCM), which refers to a combination of the appropriate site-specific wind flow and the surface flow (sometimes) generated in response to the broken wave under normal wave conditions. The normal flow model does not include tidal and storm-generated subsurface flow, but includes extreme load conditions for normal and severe wave conditions (NSS, NWH, SSS, SWH), and should be employed. For each load condition, the wind current flow rate may be estimated based on the corresponding average wind speed.
An extreme flow model (ECM), which refers to a combination of subsurface flow, wind flow, and surface flow generated by broken waves, for which reproduction periods of 1 year and 50 years for a suitable specific site are appropriate. Extreme load conditions, including extreme or converted wave conditions (ESS, EWH, RWH), should employ extreme flow models. For the above load conditions it should be assumed that the current has the same rendition as the wave.
The water level should be considered when calculating the hydrodynamic load of the offshore wind turbine, and if the water level change range of the site is large, the influence of the water level change range on the calculated load should be considered. For extreme load conditions including normal wave conditions (NSS, NWH), a constant water level equal to the Mean Sea Level (MSL) may be used.
Normal Water Level Range (NWLR), which should be assumed as a water level variation range for 1 year reproduction period. At the position ofIn the absence of site-specific long-term water level probability distribution data, 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 the sea state and wind speed joint probability distribution (H s ，T p ，V hub ) 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 within the Normal Water Level Range (NWLR) that produces the maximum load, or a reasonable consideration of the water level probability distribution within the Normal Water Level Range (NWLR).
For extreme load conditions associated with severe random sea state (SSS) and extreme wave height (SWH) models, the water level within the Normal Water Level Range (NWLR) may subject the wave height to depth limitations. To avoid the wave height being limited by depth, a higher water level in the Extreme Water Level Range (EWLR) should be used.
For hydrodynamic fatigue load calculation, under certain working conditions, the influence of water level change on fatigue load can be proved to be negligible through proper analysis, or can be illustrated through a conservative mode, namely, a constant water level which is greater than or equal to the average sea level is adopted.
An Extreme Water Level Range (EWLR) should be used for extreme load conditions associated with wave conditions of 50 years of reproduction.
Sea ice, in certain areas, can create a decisive load on the support structure of the offshore wind park. The ice load may be a static load created by a fixed ice cap or a dynamic load created by the movement of ice floes under wind and current. If the ice floes strike the support structure over a longer period of time, a significant fatigue load may be created.
Marine organisms, which affect the quality, geometry and surface state of the offshore wind turbine support structure, 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 sea creatures on the power load of the offshore wind turbine.
Modeling the mechanical structure in step (3) above includes most of the components in the offshore wind turbine, such as blades, hubs, pitch systems, frames and support structures, rotor shafts, gearboxes, high speed couplings, generators, yaw systems, nacelle, towers and foundations. The tower is fixedly connected with the seabed ground, the engine room is fixedly connected to the top of the tower, the generator stator is fixedly connected to the engine room, the generator blades have six degrees of freedom relative to the stator, and bearing force elements (No. 43 force elements) and feedback torque (No. 50 force elements) of the generator are applied between the blades and the stator; the hub is fixedly connected to the generator blade; the gear box is fixedly connected to the main frame, and the pitch system (as a substructure, comprising a pitch bearing and a pitch drive) is fixedly connected to the hub; the virtual variable pitch bearing is fixedly connected with the inner ring of the variable pitch bearing of the variable pitch system; the blades (which exist as substructures) are fixedly connected to a virtual pitch bearing. The modeling of the mechanical structure includes blade modeling, hub modeling, pitch system modeling, frame and support structure modeling, wind rotor shaft modeling, gearbox modeling, high speed coupling modeling, generator modeling, yaw system modeling, nacelle modeling, tower modeling, and foundation modeling.
The modeling model requirements and the degree of freedom requirements of each component in the mechanical structure modeling are shown in the following table 1:
table 1 sets forth genset component modeling model requirements and degrees of freedom requirements.
Specifically, the blade modeling is a blade aerodynamic model established based on a blade element-momentum theory, an airfoil aerodynamics, a dynamic stall model and a Prandtl model, and when the blade aerodynamic model is used for 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 to the divided sections according to design conception. The aerodynamic data of all airfoils must contain Cl, cd, cm coefficients of ±180 degrees; the Cl, cm coefficient curves are substantially antisymmetric about the y-axis; the Cd coefficient curve is generally directly symmetrical about the y-axis. The mass unbalance and aerodynamic unbalance factors of the wind wheel are also considered in the blade modeling, wherein the mass unbalance is caused by blade manufacturing deviation, and the deviation is between-0.3 and 0.3 degrees, namely, the initial angles of the three blades are respectively-0.3 degrees, 0 degrees and +0.3 degrees; aerodynamic imbalance is caused by blade form manufacturing deviations and blade mounting angle deviations.
The hub modeling is to build an FEA model by using an Ansys finite element method, wherein four control points are respectively built at the connection part of the blade and the variable-pitch bearing and the connection part of the hub and the main shaft, and the control node and the main node adopt rigid constraint; the model calculation adopts a superunit form, and the hub and the main shaft are connected with the boundary conditions of all degrees of freedom constrained by the control points. The flexible body also built through the multi-body dynamics FEMBS module in the hub modeling must contain a certain number of modes, so as to ensure that the first-order torsion mode is contained.
The pitch system modeling comprises a pitch system main model and a component model. The variable pitch bearing in the main model of the variable 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 (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 release rotational degrees of freedom. The engagement between gears is achieved using gear force elements number 225 provided by the multi-body dynamics 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 a gearbox supporting center, 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 solving a substructure, and the modal information of the supporting structure is solved, wherein Fx, fy, fz, my, mz of the yaw control points is set as boundary conditions.
The wind wheel main shaft modeling adopts an Ansys finite element method to build a model, four control points are arranged on four characteristic surfaces, each node is connected to a corresponding control point by using rigid constraint, each control point is used as a super unit node when a substructure is solved, modal information of a super unit is solved, and RZ of a front bearing control point is used as a boundary condition.
The topology of the gear box is taken as an important part of the doubly-fed wind turbine generator, is an important ring of the reliability of the whole wind turbine generator, and is connected with a main frame, a high-speed shaft and a low-speed shaft, and the topological relation of the whole gear box is shown in figure 2.
Gearbox modeling includes low-speed side 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 low-speed end planet carrier modeling: a finite element model of the gearbox low end carrier was built in Ansys. A second order tetrahedral unit is used. 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 pins (260 mm diameter) were fixed before the socket control points at both ends and modeled using a BEAM4 cell. Two control points are arranged on the supporting 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. Six control points are used as super node elements when solving the subcomponents, respectively: three midpoints on the pin beam, two support bearing center points and one torque input domain center point.
LSS sun axis modeling: finite element models of the LSS sun axis were built in Ansys. The control point is established at the sun gear center and the spline joint center. The spline region employs a rigid constraint and the sun gear employs a distributed force constraint. Two control points are used as superunit nodes for sub-structural unit computation.
IMS input shaft modeling: a finite element model of the IMS input axis is built in Ansys. The control points are established at the centers of the two bearings and the gear, and at the centers of the LSS sun shaft and the spline joint. A rigid or force component constraint is employed between each control point and the corresponding slave node. The control points are used as superunit nodes for sub-structural unit computation.
HSS high-speed input shaft modeling: finite element models of HSS high speed input axes are built in Ansys. The control point is established at the center of the bearing and gear. 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-structural unit computation.
Modeling a high-speed output shaft: and establishing a finite element model of the HSS high-speed output shaft 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-structural unit computation.
Gear modeling: and establishing a three-dimensional model of the gear in multi-body dynamics software according to parameters of the following table. The most important geometrical information will be used for a specific force unit (gear pair fe-225) when calculating the meshing force. The stiffness of the meshing pair of gears can be obtained from the output of the multi-hydrodynamic force cell fe-225. At nominal load, the engagement stiffness is achieved by applying a nominal torque to the low end carrier.
The considerable flexibility afforded by the cantilever structure of the torque arm, which connects the gearbox to the resilient support, will not be neglected. Thus, a finite element model of the torque arm is built in Ansys. A second order tetrahedral unit is used. The control points are established on the geometric center of the planet wheel, and rigid constraint is adopted between the master control nodes and the slave control areas. The boundary conditions are applied to the arm in a manner similar to a real contact.
The generator modeling comprises a generator stator model and a rotor model, wherein the stator model is fixedly connected with the engine room, the rotor model has six degrees of freedom relative to the stator model, bearing force elements are 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 multi-body dynamics method with a generator rotating speed torque curve. The generator speed and torque curve is shown in fig. 3.
The high-speed coupling belongs to a flexible body with mass and rigidity, the modeling of the high-speed coupling is established by adopting a multi-body dynamics method, and the torsional rigidity of the established high-speed coupling 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 engagement model;
because the cabin of the offshore wind turbine has little influence on the load result of the turbine in the simulation calculation process, the cabin model can be simplified to avoid the complexity of the system. The nacelle can be considered as a hexahedron only, and then modeling can be performed by specifying data of its mass, the position of its centroid, moment of inertia, and the like.
And (3) tower modeling, namely dividing the offshore wind turbine 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 tower model by adopting a beam unit. Since modeling of the tower is critical to the system modal impact, the material properties should conform to those of standard steels (density 7850kg/m 3 Young's modulus 2.1e11Pa), the attached mass of the tower taking into account the weight of the flanges of each section and taking into account the material density floating 5% above the standard steel density (density 8242.5 kg/m) 3 ) The air resistance coefficient was 0.6.
Since the influence of the base stiffness on the tower frequency is large, it is required that it has to be taken into account in the computational modeling to reduce the computational bias. The hydrodynamic drag coefficient and the hydrodynamic inertia coefficient should also be considered in the basic modeling. The hydrodynamic drag coefficient is generally 1, and can be set for each jacket; the coefficient of hydrodynamic inertia is generally 2, and can be set for each jacket. The impact of the density and thickness of the marine creatures on the underlying modeling should also be considered.
Modeling electrical in step (3) above
The wind turbine generator system electrical system is a control core and an optimized implementation means for realizing functions of wind energy capture, energy conversion, energy transmission and the like of the wind turbine generator system. The basic functions of the electrical system mainly comprise the following points: automatic start-stop wind turbine generator design; a motor switching control design; grid-connected control design; automatic cable-releasing and yaw design; man-machine interaction type control design; a brake control design; other aspects of the design.
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, and mainly provides different grades of power for offshore groups, and is commonly known as a low-voltage power distribution system. The electric control system is composed of a plurality of electric elements and is used for controlling a certain object or some objects, so that the controlled equipment can safely and reliably run, and the main functions of the electric control system are as follows: automatic control, protection, monitoring and measurement. Commonly known as the secondary control loop of an electrical device.
The electrical 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 ground protection loop model. As shown in fig. 4.
Modeling of the Hydraulic pressure in step (3) above
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 loosen or lock. Generally, the hydraulic pipeline is made of seamless steel pipes, and the connecting part of the flexible pipeline is a proper high-pressure hose. The screw connection assembly should be experimentally ensured, the required sealing of the yaw system and the bearing of dynamic loads occurring during operation. The design, selection and arrangement of the hydraulic components should meet the specific specifications 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 nominal operating pressure.
The modeling of the hydraulic pressure in the embodiment comprises a hydraulic component model and a hydraulic pipeline model, wherein the hydraulic pipeline model comprises a seamless steel pipe model and a high-pressure hose flexible pipeline model.
Modeling of control System in step (3) above
The wind generating set control system is used for coordinating main and auxiliary equipment such as impellers, a transmission mechanism, yaw, braking and the like, ensuring the safe and stable operation of the equipment of the offshore wind generating set, and generally refers to a system for receiving the wind generating set and the working operation environment information thereof and adjusting the set to operate according to preset requirements. The control system improves the running efficiency of the wind generating set by controlling the executing mechanism, and ensures the safe running of the wind generating set; the control system detects faults of the wind generating set, in particular to faults such as overspeed, vibration, overpower, overheat and the like, and perfect protection measures are adopted.
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 wind turbine generator. The high-performance wind turbine generator control system can improve annual power generation efficiency of the turbine generator, improve electric energy quality, reduce material utilization rate, reduce noise and reduce manufacturing cost.
Modeling a control system 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; as shown in fig. 5.
Pitch control model: the method comprises pitch angle PI control and various constant speed rate pitch control; the variable pitch control is that three blades are controlled by adopting the same strategy, and the model comprises variable pitch PI control, normal stop, quick stop, emergency stop and power grid power failure stop variable pitch control.
Torque control model: the model comprises three control strategies of torque PI control, constant speed rate variable torque and constant torque of 0.
Brake control model: comprises a brake model; the brake is divided into two states: the brake is not performed. When the vehicle is not braked, the output braking moment is 0. After the braking is started, the braking torque reaches the maximum value within 0.4 s.
State machine model: judging and switching logic of each working condition; when the wind turbine generator runs in a speed change stage, in order to achieve maximum wind energy capture, the wind energy utilization coefficient reaches the maximum value, and the torque of the generator needs to be controlled, so that the torque of the generator and the rotating speed of the generator are optimally matched. When the fan reaches rated power, the pitch angle needs to be changed to adjust the blade to stabilize the power. The main control process can be divided into the following four stages according to the wind speed: and in the switching-in stage, constant rotating speed control, speed change stage, optimal power curve tracking, rated rotating speed stage, constant rotating speed control, rated power stage and constant power control.
Fault setting model: the method comprises the steps of setting a generator rotating speed sensor fault, a variable pitch fault and a generator short circuit fault;
simulation result observation model: the results of the generator rotating speed, the generator torque, the power generation, the pitch angle, the front and back acceleration of the engine room and the like are displayed in an oscillograph or a form of being stored in a working space;
the modeling method of the control system in this embodiment includes 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: a pitch rotational speed set point selection, a generator rotational speed sensor fault implementation module, a yaw control interface, and other auxiliary calculation modules.
The high-precision wind turbine generator-electricity-liquid-control internal multi-element coupling type offshore wind turbine generator model built by the invention can realize dynamic simulation of the generator set and full life cycle load simulation of the whole offshore wind turbine generator, and can realize vibration characteristic analysis of a transmission chain, as shown in figure 6.
The flexible stress, strain state and displacement cloud patterns of the whole offshore wind turbine blade, the main shaft, the frame and the like can be extracted from dynamic simulation, and are shown in figure 7. The structural safety of the flexibility of the unit can be judged from the extracted result. The dynamic simulation can truly reflect the change characteristics of the stress, the strain and the displacement of the parts of the offshore wind turbine.
From the whole life cycle load simulation of the whole offshore wind turbine, eight conditions are mainly simulated on the basis of different running states of the wind turbine: the method is characterized by comprising the steps of generating working conditions, faulty generating working conditions, starting, normal stopping, emergency stopping, standby, faulty standby, transportation, assembly, maintenance and repair, so that accurate load simulation of the offshore wind turbine is truly realized, and the electricity measuring cost of the offshore wind turbine is reduced.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the invention in any way, and some simple modifications, equivalent variations or modifications can be made by those skilled in the art using the teachings disclosed herein, which fall within the scope of the present invention.
Claims (3)
1. A method for establishing a multi-field coupling complete machine model of an offshore wind turbine generator is characterized by comprising the following steps:
(1) Simplifying a physical prototype of the complete machine system of the offshore wind turbine, obtaining a model topological diagram of the complete machine system of the offshore wind turbine, and establishing a mathematical-physical model of the offshore wind turbine;
(2) Dispersing each system in a physical prototype of the whole wind turbine system, introducing a finite element method, and establishing a rigid-flexible coupling mechanical model by combining a multi-body dynamics method;
(3) The modeling is simplified for the wind condition and the sea condition external environment, the electric, hydraulic and control systems respectively; the modeling of the wind condition of the external environment mainly considers the normal wind condition and the extreme wind condition;
under normal wind conditions, a normal wind profile model and a normal turbulence model are included;
in extreme wind conditions, 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 sea state modeling of the external environment adopts a random wave model, the random wave model is formed by superposing a plurality of small single-frequency components, each component is a periodic wave with independent amplitude, frequency and propagation direction, and each component has a random phase relation; each component consists of a spectrum S and a sense wave height H s Spectral peak period T p And average wave direction theta wm Are described together;
the sea condition modeling further comprises a normal flow model and an extreme flow model, and the influence of water level, sea ice and sea creatures on the power load of the offshore wind turbine is considered;
modeling hydraulic pressure comprises a hydraulic component model and a hydraulic pipeline model, wherein the hydraulic pipeline model comprises a seamless steel pipe model and a high-pressure hose flexible pipeline model;
(4) And (3) establishing a wind turbine model of a multi-element coupling type in a motor-electricity-liquid-control mode through integration.
2. The method for modeling a multi-field coupled complete machine of an offshore wind turbine according to claim 1, wherein the modeling of electricity in the step (3) includes 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 ground protection loop model.
3. The method for building the multi-field coupling complete machine model of the offshore wind turbine according to claim 1, wherein the modeling of the control system in the step (3) includes 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 control system differential equation building step, a transfer function building step and a nonlinear differential equation linearization step.
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