CN112099377A - A hardware-in-the-loop simulation platform for wind turbine pitch motors - Google Patents

Abstract

The invention relates to a semi-physical simulation platform of a variable pitch motor of a wind turbine generator, which comprises a real-time simulator, a controller, a load module and an oscilloscope, wherein the real-time simulator is respectively connected with the controller, the load module and the oscilloscope; the controller stores a wind turbine generator variable pitch control algorithm, signals of the controller are transmitted to the inverter model, and the controller controls the variable pitch motor model by controlling the inverter model by adopting the wind turbine generator variable pitch control algorithm; the load module is used for providing load data of the variable pitch motor model for the real-time simulator; the oscilloscope is used for displaying the data waveform of the real-time simulator. Compared with the prior art, the invention is more economical and convenient; the non-real-time property of off-line simulation is overcome, the time can be synchronized, and real feedback data can be obtained; the advantages of load data of the variable pitch bearing under different working conditions and different wind models and the like are considered.

Description

A hardware-in-the-loop simulation platform for wind turbine pitch motors

technical field

The invention relates to the field of simulation and simulation of pitch motors of wind turbines, in particular to a semi-physical simulation platform of pitch motors of wind turbines.

Background technique

With the rapid development of wind power generation technology, the capacity and size of wind turbines are getting larger and larger, so there are higher requirements for the design and testing of wind turbines. When testing the pitch algorithm of wind turbines, there are generally the following methods: build a real wind turbine test platform for testing, build an offline simulation model in Matlab/Simulink software for testing, and build a towed motor platform for testing.

When testing the pitch algorithm of wind turbines, if a real wind turbine test platform is used for testing, although the test results obtained are convincing, the cost of building a real wind turbine test platform is relatively expensive, and it is easy to be damaged during extreme tests. wind power equipment and cause personal injury. When building an offline simulation model in Matlab/Simulink software to test the pitch algorithm, the investment cost is low, but due to the non-real-time nature of offline simulation, the time cannot be synchronized, and the real feedback data and some errors caused by the physical object and the environment cannot be obtained. influences. When building a towed motor platform to test the pitch algorithm of the wind turbine, although there are real motor equipment, it is difficult to simulate the load torque in the real environment and operating conditions.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a kind of wind turbine pitch adjustment in order to overcome the above-mentioned defects in the prior art that the cost of building a real wind turbine test platform is relatively high, and the off-line simulation model cannot be obtained in Matlab/Simulink software to obtain real feedback data. A hardware-in-the-loop simulation platform for motors.

The object of the present invention can be realized through the following technical solutions:

A hardware-in-the-loop simulation platform for a pitch motor of a wind turbine, comprising a real-time simulator, a controller, a load module and an oscilloscope, wherein the real-time simulator is respectively connected to the controller, the load module and the oscilloscope, and the real-time simulator stores memory in the There are inverter models and pitch motor models;

The controller stores a wind turbine pitch control algorithm, the signal of the controller is transmitted to the inverter model, and the controller adopts the wind turbine pitch control algorithm to control the inverter model by using the wind turbine pitch control algorithm. and then control the pitch motor model;

The load module is used to provide the real-time simulator with load data of the pitch motor model;

The oscilloscope is used to display the data waveform of the real-time simulator.

Further, according to the preset wind turbine pitch bearing working condition analysis table, the load module calculates through GHBladed simulation software to obtain the load load data, and the wind turbine pitch bearing working condition analysis table is as follows:

In the table, DLC is the serial number of the load design condition, NWP is the normal wind profile model, EOG is the extreme working gust model, EDC is the extreme wind direction change model, NTM is the normal turbulence model, ETM is the extreme turbulence model, and ECD is the direction change model. The extreme coherent gust model, EWS is the extreme wind shear model, V _hub is the wind speed at the hub center height, V _in is the cut-in wind speed, V _out is the cut-out wind speed, and V _r is the rated wind speed.

Further, the controller adopts a DSP device, the wind turbine pitch control algorithm is stored in a DSP board card of the DSP device, and the DSP device sends out PWM waves to control the inverter model.

Further, the hardware-in-the-loop simulation platform also includes a man-machine interface, and the man-machine interface is connected to the controller;

The man-machine interface is used to complete the collection and monitoring of experimental data, the processing and control of front-end data, and to perform visual monitoring of the hardware-in-the-loop simulation platform.

Further, described man-machine interface adopts MCGS configuration software to realize described visual monitoring,

Further, the controller and the man-machine interface are connected through an RS485 communication interface.

Further, the real-time simulator uses the RT-LAB platform to build the inverter model and the pitch motor model.

Further, the controller and the real-time simulator are connected through an IO interface.

Further, the real-time simulator and the load module are connected through an Ethernet port.

Further, the real-time simulator and the oscilloscope are connected through a BNC connector.

Compared with the prior art, the present invention has the following advantages:

(1) Compared with building a real wind turbine test platform, using the semi-physical simulation platform of the wind turbine pitch motor to test the pitch algorithm is more economical and convenient, will not cause casualties, and the test model is flexible and variable; and Matlab/ Compared with the offline simulation model in the Simulink software, the semi-physical simulation overcomes the non-real-time nature of the offline simulation, can be synchronized in time, and can obtain real feedback data; The mentioned hardware-in-the-loop simulation platform considers the load data of the pitch bearing under different working conditions and different wind models, and the obtained load data can be tested as the load data of the pitch motor after processing.

(2) In the RT-LAB real-time simulator, the CPU+FPGA processing architecture is adopted, which greatly improves the processing speed of the simulator, overcomes the non-real-time nature of traditional offline simulation, and realizes the real-time performance of the simulator and the controller. synchronization on.

(3) The present invention has carried out load analysis on different working conditions and different wind models in the IEC61400-1 standard, simulated the load torque of the pitch motor under the real environment and operating conditions, and tested the hardware-in-the-loop simulation platform of the present invention. The results are more convincing than the test results on the towed motor platform, and the pitch motor model and load model can be flexibly changed according to the test requirements.

Description of drawings

FIG. 1 is a schematic structural diagram of a hardware-in-the-loop simulation platform for a pitch motor of a wind turbine according to the present invention.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

Example 1

As shown in FIG. 1 , this embodiment provides a hardware-in-the-loop simulation platform for a pitch motor of a wind turbine, which is used to test a pitch algorithm or a pitch strategy of the wind turbine. The hardware-in-the-loop simulation platform for the pitch motor of the wind turbine includes a real-time simulator, a controller, a load module and an oscilloscope. The real-time simulator is connected to the controller, the load module and the oscilloscope respectively, and the inverter model and pitch are stored in the real-time simulator. motor model;

The controller stores the wind turbine pitch control algorithm, and the signal of the controller is sequentially transmitted to the inverter model and the pitch motor model, and the controller adopts the wind turbine pitch control algorithm to control the pitch motor model through the inverter model;

The load module is used to provide the real-time simulator with the load data of the pitch motor model;

The oscilloscope is used to display the data waveform of the real-time simulator.

In the semi-physical simulation platform of wind turbine pitch motor, the controller and the real-time simulator are connected through the IO interface, the controller and the man-machine interface are connected through the RS485 communication interface, the real-time simulator and the load module are connected through the Ethernet port, and the real-time simulation The monitor and oscilloscope are connected via BNC connectors.

The following is a detailed introduction to the various parts and working principles of the entire hardware-in-the-loop simulation platform:

1. Controller

Using DSP as the controller, it sends out PWM waves to control the inverter, and then controls the pitch motor. The pitch algorithm or pitch strategy of the wind turbine needs to be downloaded to the DSP board, and then the DSP and the real-time simulator are connected through the IO interface. According to the specific test requirements, different pitch motor models and different load models are used to control the control. to perform different tests.

2. Human-machine interface

The touch screen based on Windows system is used as the man-machine interface, and the MCGS configuration software is used to construct and generate the monitoring system of the man-machine interface. The main function of the man-machine interface is to complete the collection and monitoring of experimental data, the processing and control of front-end data, and to carry out visual monitoring of the semi-physical simulation platform.

3. Real-time simulator

RT-LAB is used as the real-time simulator, and the simulation model of the pitch motor and inverter is built in the real-time simulator to compile and generate codes. In the real wind turbine, the pitch motor adopts various schemes, such as DC motor, permanent magnet synchronous motor, servo motor, etc. Therefore, in the real-time simulator, different pitch motor models can be built to test the pitch algorithm of the wind turbine. As the core module of the whole hardware-in-the-loop simulation platform, the real-time simulator is connected with the controller through the IO interface to transmit PWM control signals and feedback signals. The real-time simulator and the load module are connected through the Ethernet port, and the received load data is used as the load torque data of the pitch motor.

4. Load module

In the semi-physical simulation platform of wind turbine pitch motor, the actual pitch motor load needs to be considered. In the wind turbine, the output shaft of the pitch motor is generally connected to the pitch bearing through a reduction gear box, so considering the load of the pitch motor is to consider the load torque on the pitch bearing. In this paper, referring to the IEC61400-1 standard and the actual pitch bearing conditions, and calculating through the GH Bladed simulation software, different working conditions and different wind models are set. The specific working condition analysis of the wind turbine pitch bearing is shown in Table 1.

Table 1 Analysis of working conditions of pitch bearings of wind turbines

In Table 1: DLC means load design condition; NWP means normal wind profile model; EOG means extreme working gust model; EDC means extreme wind direction change model; NTM means normal turbulence model; ETM means extreme turbulence model; ECD means direction change model Extreme coherent gust model; EWS is the extreme wind shear model; V _hub is the wind speed at the hub center height; V _in is the cut-in wind speed; V _out is the cut-out wind speed; V _r is the rated wind speed.

Under different working conditions and different wind models, the GH Bladed wind power design software recognized by the wind power industry is used to analyze the load of the pitch bearing of the wind turbine, and the obtained load data is processed and transmitted to the real-time simulator as a pitch motor. load data.

5. Oscilloscope

The oscilloscope and the real-time simulator are connected through the BNC connector, which can display different data waveforms according to different test items, and realize the visual monitoring of the test signals of the hardware-in-the-loop simulation platform.

6. Working principle

The working principle of the semi-physical simulation platform of wind turbine pitch motor is as follows:

In the RT-LAB real-time simulator, build the inverter model and pitch motor model required for the test. In the GHBladed software, according to the working conditions and wind model required for the test, the load analysis of the pitch bearing of the wind turbine is carried out, and the obtained load data is processed and transmitted to the RT-LAB real-time simulator as the load rotation of the pitch motor model. moment. In the DSP controller, compile the pitch algorithm or pitch strategy to be tested, transmit the PWM signal output by the controller to the RT-LAB real-time simulator, and transmit the feedback data obtained by the RT-LAB real-time simulator to the control. in the device. When the DSP controller and RT-LAB real-time simulator are running, the test signal can be monitored visually through the human-machine interface and oscilloscope.

The invention uses GH Bladed software to carry out load analysis on different working conditions and different wind models in the IEC61400-1 standard, and simulates the load torque of the pitch motor under the real environment and operating conditions. The test results are more convincing than the test results on the towed motor platform, and the pitch motor model and load model can be flexibly changed according to the test requirements.

The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and changes according to the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments on the basis of the prior art according to the concept of the present invention shall fall within the protection scope determined by the claims.

Claims (10)

1. a semi-physical simulation platform of wind turbine pitch motor, comprising a real-time simulator, it is characterized in that, described platform also comprises controller, load module and oscilloscope, and described real-time simulator connects described controller, load respectively a module and an oscilloscope, and the inverter model and the pitch motor model are stored in the real-time simulator; The controller stores a wind turbine pitch control algorithm, the signal of the controller is transmitted to the inverter model, and the controller adopts the wind turbine pitch control algorithm to control the inverter model by using the wind turbine pitch control algorithm. and then control the pitch motor model; The load module is used to provide the real-time simulator with load data of the pitch motor model; The oscilloscope is used to display the data waveform of the real-time simulator. 2. The semi-physical simulation platform of a wind turbine pitch motor according to claim 1, wherein the load module obtains the load data according to a preset wind turbine pitch bearing working condition analysis table, The wind turbine pitch bearing working condition analysis table is as follows:

In the table, NWP is the normal wind profile model, EOG is the extreme working gust model, EDC is the extreme wind direction variation model, NTM is the normal turbulence model, ETM is the extreme turbulence model, ECD is the extreme coherent gust model with direction change, and EWS is the extreme coherent gust model. Wind shear model, V _hub is the wind speed at the height of the hub center, V _in is the cut-in wind speed, V _out is the cut-out wind speed, and V _r is the rated wind speed. 3. the semi-physical simulation platform of a kind of wind turbine pitch motor according to claim 1, is characterized in that, described controller adopts DSP equipment, and described wind turbine pitch control algorithm is stored in the DSP of described DSP equipment In the board, the DSP device sends out PWM waves to control the inverter model. 4. The semi-physical simulation platform of a wind turbine pitch motor according to claim 1, wherein the semi-physical simulation platform further comprises a man-machine interface, and the man-machine interface is connected to the controller; The man-machine interface is used to complete the collection and monitoring of experimental data, the processing and control of front-end data, and to perform visual monitoring of the hardware-in-the-loop simulation platform. 5 . The hardware-in-the-loop simulation platform for the pitch motor of a wind turbine according to claim 4 , wherein the man-machine interface adopts MCGS configuration software to realize the visual monitoring. 6 . 6 . The hardware-in-the-loop simulation platform for the pitch motor of a wind turbine according to claim 4 , wherein the controller and the man-machine interface are connected through an RS485 communication interface. 7 . 7 . The hardware-in-the-loop simulation platform for a pitch motor of a wind turbine according to claim 1 , wherein the real-time simulator adopts an RT-LAB platform to build the inverter model and the pitch motor model. 8 . 8. The hardware-in-the-loop simulation platform of a wind turbine pitch motor according to claim 1, wherein the controller and the real-time simulator are connected through an IO interface. 9 . The hardware-in-the-loop simulation platform for the pitch motor of a wind turbine according to claim 1 , wherein the real-time simulator and the load module are connected through an Ethernet port. 10 . 10 . The hardware-in-the-loop simulation platform for a pitch motor of a wind turbine according to claim 1 , wherein the real-time simulator and the oscilloscope are connected through a BNC connector. 11 .

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