CN112906210B - Wind turbine generator test bed time delay identification method and system based on instability feature extraction - Google Patents

Wind turbine generator test bed time delay identification method and system based on instability feature extraction Download PDF

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CN112906210B
CN112906210B CN202110158893.2A CN202110158893A CN112906210B CN 112906210 B CN112906210 B CN 112906210B CN 202110158893 A CN202110158893 A CN 202110158893A CN 112906210 B CN112906210 B CN 112906210B
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wind turbine
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torque
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turbine generator
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CN112906210A (en
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徐胜元
殷明慧
邹云
周连俊
杨炯明
罗森华
卜京
汪成根
孙蓉
刘建坤
陈载宇
顾伟峰
彭云
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Nanjing University of Science and Technology
Jiangsu Goldwind Science and Technology Co Ltd
Electric Power Research Institute of State Grid Jiangsu Electric Power Co Ltd
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Jiangsu Goldwind Science and Technology Co Ltd
Electric Power Research Institute of State Grid Jiangsu Electric Power Co Ltd
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Abstract

The invention discloses a wind turbine generator test bed time delay identification method and system based on instability feature extraction. Aiming at the problems that the time delay of a wind turbine generator test bed is difficult to non-invade and measure with low cost, the method discretizes the model on the basis of a test bed transmission chain model to obtain a transfer function model taking compensation torque as output, further obtains a time domain response expression of the compensation torque through z inverse transformation solving, extracts a determined relation between the oscillation period of the compensation torque and the time delay of the compensation torque when the test bed is unstable, and accordingly obtains the time delay of the test bed through instability experiment identification. Compared with a common time delay measurement or identification method, the method can realize accurate identification of the time delay of the test bed at low cost without any measurement equipment or intervening in a communication loop of the test bed.

Description

Wind turbine generator test bed time delay identification method and system based on instability feature extraction
Technical Field
The invention belongs to the field of time delay identification, and particularly relates to a wind turbine generator test bed time delay identification method and system based on instability feature extraction.
Background
Digital Control Systems (DCS) generally form a closed Control loop by communicating between controllers, actuators, and sensors. There is inevitably a time delay in the communication between the different components in the control loop of a digital control system, and the presence of the time delay may degrade the performance of the control system and in severe cases may even lead to system instability. The time delay of the control system can be generally divided into two types: the calculated time delay at the controller and the time delay caused by the data exchange over the controller-to-actuator and sensor-to-controller communication channels.
The wind turbine generator system test bed is a typical power-in-the-loop test system based on digital control, and can be used for performing function and performance tests of a wind turbine generator system level in an experimental environment. A Wind Turbine Simulator (WTS) is used as driving equipment in the Wind Turbine Simulator, and the mechanical dynamic simulation of the transmission chain of the actual Wind Turbine generator is realized through an inertia compensation strategy. The existing research finds that the time delay of applying inertia compensation torque observed from acceleration is a key factor influencing the stability of the wind turbine generator test bed, the traditional rotational inertia compensation strategy is improved through a designed digital filter, the problem of oscillation instability of the wind turbine generator test bed caused by time delay is solved, and the setting of the filter parameter depends on the accurate identification of the time delay.
Many existing delay measurement methods are based on advanced technologies or devices to directly measure the delay, such as: GPS system, multi-channel microwave interference technology, etc. These delay measurement methods or techniques are highly demanding or costly to measure and involve the communication loop of the system. However, for the built wind power test bed, the inertia compensation torque loop of the test bed relates to mechanical, electrical and measurement and control subsystems, and the millisecond-level direct measurement of the time delay is difficult to realize in a low-cost and non-invasive manner. Meanwhile, some delay identification methods are proposed in research, but the identification methods are generally not verified based on a real system or a test system, and only the delay identification of the model is performed based on sample data obtained by simulation, so that the method and the way for acquiring the sample data required by the identification method in the real system are not discussed, and the engineering practicability is questionable.
Disclosure of Invention
The invention aims to provide a method and a system for identifying the time delay of a wind turbine generator test bed based on instability characteristic extraction, aiming at solving the problems in the prior art.
The technical solution for realizing the purpose of the invention is as follows: a wind turbine generator test bed time delay identification method based on instability feature extraction comprises the following steps:
step 1, establishing a wind turbine generator test bed transmission chain model based on a rotational inertia compensation strategy, and obtaining a compensation torque model when the test bed carries out wind turbine dynamic simulation
Figure BDA0002935528400000021
Step 2, discretizing a transmission chain model of the wind turbine generator test bed to obtain a z-domain transfer function H (z) taking compensation torque as output and unbalanced torque as input;
and 3, based on the discrete model of the transmission chain of the test bed of the wind turbine generator, enabling the unbalanced torque to be step input and the system to be in a zero initial state, and obtaining a time domain response T of the compensation torque through a partial power series method and z inverse transformation comp (k)；
Step 4, responding T to the time domain of the compensation torque comp (k) Performing convergence analysis, and extracting the determined relation tau (T) between the oscillation period and the time delay of the compensation torque during instability OSC )。
Further, establishing a wind turbine generator test bed transmission chain model based on a rotational inertia compensation strategy in the step 1, and obtaining a compensation torque model when the test bed carries out wind turbine dynamic simulation
Figure BDA0002935528400000022
The method specifically comprises the following steps:
1-1, converting all parameters of the simulated wind turbine model to a high-speed side, simplifying a transmission chain of the wind turbine into a single mass model, wherein the motion equation is as follows:
Figure BDA0002935528400000023
in the formula, T a Is the pneumatic torque, n g For gear box ratio, T g In order to generate the electromagnetic torque of the generator,
Figure BDA0002935528400000024
for converting the integral moment of inertia of the wind turbine behind the high-speed side, J r Is the actual moment of inertia of the rotor, J g In order to obtain the moment of inertia of the generator rotor,
Figure BDA0002935528400000025
is the rotational speed acceleration;
the test bed transmission chain model is as follows:
Figure BDA0002935528400000026
in the formula, J s Is the moment of inertia of the test stand, T s In order to drive the torque of the test stand,
Figure BDA0002935528400000027
is the rotational speed acceleration;
step 1-2, assuming that the rotating speeds of the wind turbine and the test bed are consistent, subtracting the two formulas in the step 1-1 and deforming to obtain a wind turbine test bed driving torque calculation equation as follows:
Figure BDA0002935528400000028
therefore, the equation of the transmission chain model of the test bed of the wind turbine generator is obtained as follows:
Figure BDA0002935528400000031
let the unbalanced torque Δ T of the drive train be T a /n g -T g Compensation torque model for dynamic simulation of wind turbine by test bench
Figure BDA0002935528400000032
Further, in step 2, discretizing the wind turbine generator test bed transmission chain model to obtain a z-domain transfer function h (z) with the compensation torque as output and the unbalance torque as input, specifically includes:
according to a wind turbine generator test bed transmission chain model, considering system time delay
Figure BDA0002935528400000033
To compensate for the torque T comp For output, the transmission chain imbalance torque Δ T is input, and discrete z-transformation is performed to obtain a transfer function h (z):
Figure BDA0002935528400000034
wherein β ═ J (J) t -J s )/J s ，k 0 Is the multiple of the time delay relative to the control period T and is defined as the time delay order.
Further, step 3, based on the discrete model of the transmission chain of the wind turbine generator test bed, the unbalanced torque is input in a step mode, the system is in a zero initial state, and the time domain response T of the compensating torque is obtained through a partial power series method and z inverse transformation comp (k) The method specifically comprises the following steps:
the unbalanced torque delta T of the transmission chain of the wind turbine generator test bed is input in a step mode, and the time domain expression is as follows:
ΔT(k)＝m·u(0)
wherein Δ t (k) represents a time-domain response of the unbalanced torque, k is a time series, m is a step amplitude, and u (0) is a unit step response;
the system is set to be in a zero initial state, and the output of the compensation torque is T comp (z)：
Figure BDA0002935528400000035
T is obtained by partial power series method and inverse z-transform comp The time domain expression of (a):
Figure BDA0002935528400000036
in the formula, T comp (k) The time-domain response of the torque is compensated,
Figure BDA0002935528400000037
for time series k to delay order k 0 Remainder of +1, delay order k 0 +1 includes k 0 Order communication time delay and 1 order acceleration observation time delay.
Further, the time-domain response T to the compensation torque in step 4 comp (k) Performing convergence property analysis, and extracting the determined relation tau (T) between the oscillation period and the time delay of the compensation torque during instability OSC ) The method specifically comprises the following steps:
step 4-1, time-domain response T to compensation torque comp (k) Astringency analysis was performed:
a. when beta is<1, namely: j. the design is a square t /J s When the index number is less than 2, the base number of the exponential part is less than 1, and every k 0 The +1 step converges once and approaches to 0, and the system is stable;
b. when β ═ 1, i.e.: j. the design is a square t /J s When the base number of the exponential part is equal to 1, oscillating at the same amplitude, and destabilizing the system;
c. when beta is>1, namely: j. the design is a square t /J s When the ratio is more than 2, the base number of the exponential part is more than 1, and every k 0 +1 step of gradual divergence, and instability of system oscillation;
step 4-2, extracting a time delay order k based on the convergence property analysis 0 Oscillation period T of compensation torque OSC The determination relationship is as follows:
T OSC ＝2·(k 0 +1)·T
step 4-3, the communication time delay tau is k 0 T, obtaining the oscillation period T of the compensation torque in the event of instability OSC Determining the relationship tau (T) to the time delay tau OSC ) Comprises the following steps:
τ(T OSC )＝(T OSC -2·T)/2。
the utility model provides a wind turbine generator system test bench time delay identification system based on unstability characteristic extraction, the system includes:
the model construction module is used for establishing a wind turbine generator test bed transmission chain model based on a rotational inertia compensation strategy and obtaining a compensation torque model when the test bed carries out dynamic simulation on a wind turbine
Figure BDA0002935528400000041
The discretization module is used for discretizing the wind turbine generator test bed transmission chain model to obtain a z-domain transfer function H (z) with the compensation torque as output and the unbalance torque as input;
the conversion module is used for enabling the unbalanced torque to be step input and the system to be in a zero initial state based on the discrete model of the transmission chain of the wind turbine generator test bed, and obtaining the time domain response T of the compensation torque through a partial power series method and z inverse transformation comp (k)；
A relation extraction module for time-domain response T to the compensation torque comp (k) Performing convergence analysis, and extracting the determined relation tau (T) between the oscillation period and the time delay of the compensation torque during instability OSC )。
Compared with the prior art, the invention has the following remarkable advantages: 1) the invention fully considers the problem that the inertia compensation torque loop of the built wind power test bed relates to a plurality of subsystems such as machinery, electricity, measurement and control, and the millisecond-level direct measurement of the time delay is difficult to realize at low cost and noninvasively, designs a time delay identification method based on the instability characteristic extraction of the test bed of the wind power unit, and realizes the low-cost, noninvasive and indirect identification of the time delay of the test bed system; 2) the time delay of the test bed system is identified and obtained through the method, and effective time delay reference is provided for selection of the parameters of the rotational inertia compensation strategy filter, so that the stability of the test bed of the wind turbine generator is guaranteed.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
FIG. 1 is a flow chart of a wind turbine generator test bed time delay identification method based on instability feature extraction.
FIG. 2 illustrates the present invention to compensate for torque T comp A drive train control scheme with imbalance torque Δ T as input for output.
Fig. 3 is a diagram of simulation results of validity verification of the present invention, in which a dotted line and a solid line respectively represent the experimental results of compensation torque without increasing time delay and artificially increasing time delay by one cycle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, a method for identifying a wind turbine generator test bed time delay based on instability feature extraction is provided, and the method comprises the following steps:
step 1, establishing a patch based on rotational inertiaStrategy-compensated wind turbine generator test bed transmission chain model and compensation torque model obtained when wind turbine dynamic simulation is carried out on test bed
Figure BDA0002935528400000051
Step 2, discretizing a wind turbine generator test bed transmission chain model to obtain a z-domain transfer function H (z) with compensation torque as output and unbalanced torque as input;
and 3, based on the discrete model of the transmission chain of the test bed of the wind turbine generator, enabling the unbalanced torque to be step input and the system to be in a zero initial state, and obtaining a time domain response T of the compensation torque through a partial power series method and z inverse transformation comp (k)；
Step 4, responding T to the time domain of the compensation torque comp (k) Performing convergence analysis, and extracting the determined relation tau (T) between the oscillation period and the time delay of the compensation torque during instability OSC )。
Further, in one embodiment, in the step 1, a model of a transmission chain of a wind turbine test bed based on a rotational inertia compensation strategy is established, and a compensation torque model when the test bed performs dynamic simulation on a wind turbine is obtained
Figure BDA0002935528400000052
The method specifically comprises the following steps:
1-1, converting all parameters of the simulated wind turbine model to a high-speed side, and simplifying a transmission chain of the wind turbine into a single-mass model, wherein the motion equation is as follows:
Figure BDA0002935528400000061
in the formula, T a Is the pneumatic torque, n g For gear box ratio, T g In order to generate the electromagnetic torque of the generator,
Figure BDA0002935528400000062
for converting the integral moment of inertia of the wind turbine behind the high-speed side, J r For actual wind wheel rotationInertia, J g In order to obtain the moment of inertia of the generator rotor,
Figure BDA0002935528400000063
is the rotational speed acceleration;
the test bed transmission chain model is as follows:
Figure BDA0002935528400000064
in the formula, J s Is the moment of inertia of the test stand, T s In order to drive the torque of the test stand,
Figure BDA0002935528400000065
is the rotational speed acceleration;
step 1-2, assuming that the rotating speeds of the wind turbine and the test bed are consistent, subtracting the two formulas in the step 1-1 and deforming to obtain a wind turbine test bed driving torque calculation equation as follows:
Figure BDA0002935528400000066
therefore, the equation of the transmission chain model of the test bed of the wind turbine generator set is obtained as follows:
Figure BDA0002935528400000067
let the unbalanced torque Δ T of the drive train be T a /n g -T g Compensation torque model for dynamic simulation of wind turbine by test bench
Figure BDA0002935528400000068
Further, in one embodiment, discretizing the wind turbine generator test bed drive train model in step 2 to obtain a z-domain transfer function h (z) with the compensation torque as output and the unbalance torque as input, specifically includes:
according to the model of the transmission chain of the test bed of the wind turbine generator set, testSystem delay is taken into account
Figure BDA0002935528400000069
To compensate for the torque T comp For output, the transmission chain imbalance torque Δ T is input, and discrete z-transformation is performed to obtain a transfer function h (z):
Figure BDA00029355284000000610
wherein β ═ J (J) t -J s )/J s ，k 0 Is the multiple of the time delay relative to the control period T and is defined as the time delay order.
Further, in one embodiment, the unbalanced torque is used as step input and the system is in a zero initial state based on the discrete model of the transmission chain of the wind turbine generator test bed in the step 3, and the time domain response T of the compensation torque is obtained through a partial power series method and a z inverse transformation comp (k) The method specifically comprises the following steps:
the unbalanced torque delta T of the transmission chain of the wind turbine generator test bed is input in a step mode, and the time domain expression is as follows:
ΔT(k)＝m·u(0)
wherein Δ t (k) represents a time-domain response of the unbalance torque, k is a time series, m is a step amplitude, and u (0) is a unit step response;
the system is set to be in a zero initial state, and the output of the compensation torque is T comp (z)：
Figure BDA0002935528400000071
T is obtained by partial power series method and inverse z-transform comp The time domain expression of (a):
Figure BDA0002935528400000072
in the formula, T comp (k) The time-domain response of the compensation torque,
Figure BDA0002935528400000073
for the time sequence k to the delay order k 0 Remainder of +1, delay order k 0 +1 includes k 0 The order communication time delay and the 1-order acceleration observation time delay.
Further, in one embodiment, the time-domain response T to the compensation torque in step 4 comp (k) Performing convergence property analysis, and extracting the determined relation tau (T) between the oscillation period and the time delay of the compensation torque during instability OSC ) The method specifically comprises the following steps:
step 4-1, time-domain response T to compensation torque comp (k) Convergence properties were analyzed:
a. when beta is<1, namely: j. the design is a square t /J s When < 2, the base number of the exponential part is less than 1, every k 0 The +1 step converges once and approaches to 0, and the system is stable;
b. when β is 1, that is: j. the design is a square t /J s When the base number of the exponential part is equal to 1, oscillating at the same amplitude, and destabilizing the system;
c. when beta is>1, namely: j. the design is a square t /J s When the ratio is more than 2, the base number of the exponential part is more than 1, and every k 0 +1, gradual divergence, and instability of system oscillation;
step 4-2, extracting the time delay order k based on the convergence property analysis 0 Oscillation period T of compensation torque OSC The determination relationship is as follows:
T OSC ＝2·(k 0 +1)·T
step 4-3, the communication time delay tau is k 0 T, obtaining the oscillation period T of the compensation torque in the event of instability OSC Determining the relationship tau (T) to the time delay tau OSC ) Comprises the following steps:
τ(T OSC )＝(T OSC -2·T)/2。
in one embodiment, a wind turbine generator test bed time delay identification system based on instability feature extraction is provided, the system includes:
the model construction module is used for establishing a wind turbine generator test bed transmission chain model based on a rotational inertia compensation strategy and obtaining a compensation torque model when the test bed carries out dynamic simulation on a wind turbine
Figure BDA0002935528400000081
The discretization module is used for discretizing the wind turbine generator test bed transmission chain model to obtain a z-domain transfer function H (z) with the compensation torque as output and the unbalance torque as input;
the conversion module is used for enabling the unbalanced torque to be step input and the system to be in a zero initial state based on the wind turbine generator test bed transmission chain discrete model, and obtaining the time domain response T of the compensation torque through a partial power series method and z inverse transformation comp (k)；
A relation extraction module for time-domain response T to the compensation torque comp (k) Performing convergence analysis, and extracting the determined relation tau (T) between the oscillation period and the time delay of the compensation torque during instability OSC )。
For specific limitation of the wind turbine generator test bed time delay identification system based on the instability feature extraction, reference may be made to the limitation of the wind turbine generator test bed time delay identification method based on the instability feature extraction, and details are not repeated here. All modules in the wind turbine generator test bed time delay identification system based on instability characteristic extraction can be completely or partially realized through software, hardware and combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
As a specific example, in one embodiment, the method for identifying the wind turbine generator test bed time delay based on the instability feature extraction of the present invention is further verified and explained.
In the embodiment, a 600kW CART3 test machine model provided by the National Energy resource Laboratory (NREL) is used as a simulation object of a wind turbine test bed, and a wind turbine test bed test platform with a capacity of 15kW has main parameters shown in table 1 below.
TABLE 1 wind turbine test bench test platform parameters
Figure BDA0002935528400000082
Figure BDA0002935528400000091
Converting all parameters of the simulated wind turbine model to a high-speed side, simplifying a transmission chain of the wind turbine into a single mass block model, wherein the motion equation is as follows:
Figure BDA0002935528400000092
in the formula, T a For pneumatic torque, n g For gear box ratio, T g In order to generate the electromagnetic torque of the generator,
Figure BDA0002935528400000093
for converting the integral moment of inertia of the wind turbine behind the high-speed side, J r Is the actual moment of inertia of the rotor, J g Is the rotational inertia of the rotor of the generator,
Figure BDA0002935528400000094
is the rotational speed acceleration;
the test bed transmission chain model is as follows:
Figure BDA0002935528400000095
in the formula, J s Is the moment of inertia of the test stand, T s In order to drive the torque of the test stand,
Figure BDA0002935528400000096
is the rotational speed acceleration.
Suppose that the rotation speeds of the wind turbine and the test bed are consistent (i.e. omega) g ＝ω s ) And subtracting the two formulas and carrying out item transfer to obtain a driving torque calculation equation of the wind turbine generator test bed:
Figure BDA0002935528400000097
therefore, the drive train model of the wind turbine test rig is expressed as:
Figure BDA0002935528400000098
let the unbalanced torque Δ T of the drive train be T a /n g -T g (ii) a Order compensation torque model
Figure BDA0002935528400000099
According to a transmission chain equation of a test bed of the wind turbine generator and considering system time delay
Figure BDA00029355284000000910
(k 0 A multiple of the time delay with respect to the control period T, defined as the number of time delay steps) to compensate for the torque T comp For output, the transmission chain imbalance torque Δ T is input, discrete z-transform is performed, and as shown in fig. 2, a transfer function h (z):
Figure BDA00029355284000000911
wherein β ═ J t -J s )/J s . Assuming that the delta T of the wind turbine generator test bed is step input, the time domain expression is as follows:
ΔT(k)＝m·u(0)
where Δ t (k) represents the time domain response of the imbalance torque, and m is the step amplitude; u (0) is the unit step response. And if the system is in a zero initial state, the compensation torque output is as follows:
Figure BDA0002935528400000101
further, by partial powersObtaining T by series method and z inverse transformation comp The time domain expression of (a):
Figure BDA0002935528400000102
in the formula (I), the compound is shown in the specification,
Figure BDA0002935528400000103
for time series k to delay order k 0 +1(k 0 Order communication delay, 1 order acceleration observation delay). The time domain response of the compensation torque is analyzed, and the convergence property is as follows:
a. when beta is<1, namely: j. the design is a square t /J s When < 2, the base number of the exponential part is less than 1, every k 0 The +1 step converges once and approaches to 0, and the system is stable;
b. when β ═ 1, i.e.: j. the design is a square t /J s When the base number of the exponential part is equal to 1, oscillating at the same amplitude, and destabilizing the system;
c. when beta is>1, namely: j. the design is a square t /J s When the ratio is more than 2, the base number of the exponential part is more than 1, and every k 0 +1 step of gradual divergence, and instability of system oscillation;
in summary, the delay order k is extracted 0 And oscillation period T OSC The determined relationship is T OSC ＝2·(k 0 + 1). T. And the communication time delay tau is k 0 T, therefore, the deterministic relationship of the time delay to the period of oscillation can be expressed as:
τ(T OSC )＝(T OSC -2·T)/2
therefore, the time delay tau (T) of the test bed system can be identified and obtained based on the relation between the time delay and the oscillation period by observing and recording the compensation torque of the test bed during the experiment and counting the oscillation period of the test bed through the instability oscillation experiment OSC )。
And finally, identifying time delay based on a 15kW wind turbine generator test bed, and comparing the time delay identification results of the time delay which is not increased with the time delay which is artificially increased by one period.
And (3) taking a constant wind speed of 5m/s as the input of the wind turbine generator test bed, setting the inertia simulation multiple to be 6.6 times, and performing a time delay identification experiment. Fig. 3 shows the experimental results of the compensation torque artificially increased by a period T (40ms) and not increased by the time delay. It can be seen that the oscillation period of the test bed compensation torque after the artificial addition of the one-period delay is obviously larger than the oscillation period without the addition of the delay, and the experimental expectation is met. The statistical human delay added by one period is 151.10ms, the normal delay not added is 108.34ms, and the difference between the two results is 42.76ms (about one period T), as shown in Table 2.
TABLE 2 time delay identification comparison
Figure BDA0002935528400000111
As can be seen from table 2, the results are in agreement with the expected results. The time delay identification experimental result shows that the identification method provided by the invention is accurate and effective.
In summary, compared with a general time delay measurement or identification method, the time delay identification method can realize accurate time delay identification at low cost without any measurement equipment or intervening in a communication loop of the wind turbine generator test bed system.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (6)

1. A wind turbine generator test bed time delay identification method based on instability feature extraction is characterized by comprising the following steps:
step 1, establishing a wind turbine generator test bed transmission chain model based on a rotational inertia compensation strategy, and obtaining a compensation torque model when the test bed carries out wind turbine dynamic simulation
Figure FDA0003724088190000011
Step 2, discretizing a wind turbine generator test bed transmission chain model to obtain a z-domain transfer function H (z) with compensation torque as output and unbalanced torque as input;
and 3, based on the discrete model of the transmission chain of the wind turbine generator test bed, enabling the unbalanced torque to be step input and the system to be in a zero initial state, and obtaining a time domain response T of the compensated torque through a partial power series method and z inverse transformation comp (k)；
Step 4, responding T to the time domain of the compensation torque comp (k) Performing convergence analysis, and extracting the determined relation tau (T) between the oscillation period and the time delay of the compensation torque during instability OSC )；
Wherein
Figure FDA0003724088190000012
Is the acceleration of the rotational speed, z represents the z transformation, k is the time series, T OSC The oscillation period of the torque is compensated for in the event of instability.
2. The method for identifying the wind turbine generator test bed time delay based on the instability feature extraction as claimed in claim 1, wherein the step 1 is to establish a wind turbine generator test bed transmission chain model based on a rotational inertia compensation strategy and obtain a compensation torque model when the test bed performs wind turbine dynamic simulation
Figure FDA0003724088190000013
The method specifically comprises the following steps:
1-1, converting all parameters of the simulated wind turbine model to a high-speed side, and simplifying a transmission chain of the wind turbine into a single-mass model, wherein the motion equation is as follows:
Figure FDA0003724088190000014
in the formula, T a Is pneumatically operated to rotateMoment, n g For gear box ratio, T g In order to generate the electromagnetic torque of the generator,
Figure FDA0003724088190000015
for converting the integral moment of inertia of the wind turbine behind the high-speed side, J r Is the actual moment of inertia of the rotor, J g Is the rotational inertia of the rotor of the generator,
Figure FDA0003724088190000016
is the rotational speed acceleration;
the test bed transmission chain model is as follows:
Figure FDA0003724088190000017
in the formula, J s Is the moment of inertia of the test stand, T s In order to drive the torque of the test stand,
Figure FDA0003724088190000018
is the rotational speed acceleration;
step 1-2, assuming that the rotating speeds of the wind turbine and the test bed are consistent, subtracting the two formulas in the step 1-1 and deforming to obtain a driving torque calculation equation of the test bed of the wind turbine generator, wherein the driving torque calculation equation comprises the following steps:
Figure FDA0003724088190000021
therefore, the equation of the transmission chain model of the test bed of the wind turbine generator is obtained as follows:
Figure FDA0003724088190000022
let the unbalanced torque Δ T of the drive train be T a /n g -T g Compensation torque model for dynamic simulation of wind turbine by test bench
Figure FDA0003724088190000023
3. The wind turbine generator test bed time delay identification method based on instability feature extraction according to claim 1 or 2, wherein the discretization of the wind turbine generator test bed drive chain model in step 2 is performed to obtain a z-domain transfer function h (z) with compensation torque as output and unbalanced torque as input, and specifically comprises:
according to a transmission chain model of a wind turbine generator test bed, system time delay is considered
Figure FDA0003724088190000024
To compensate for the torque T comp For output, the transmission chain imbalance torque Δ T is input, and discrete z-transformation is performed to obtain a transfer function h (z):
Figure FDA0003724088190000025
wherein β ═ J (J) t -J s )/J s ，k 0 Is the multiple of the time delay relative to the control period T and is defined as the time delay order.
4. The method for identifying the wind turbine generator test bed delay based on the instability feature extraction of the claim 3, wherein the unbalanced torque is set as a step input and the system is set as a zero initial state based on the wind turbine generator test bed transmission chain discrete model in the step 3, and a compensation torque time domain response T is obtained through a partial power series method and a z inverse transformation comp (k) The method specifically comprises the following steps:
the unbalanced torque delta T of the transmission chain of the wind turbine generator test bed is input in a step mode, and the time domain expression is as follows:
ΔT(k)＝m·u(0)
wherein Δ t (k) represents a time-domain response of the unbalanced torque, k is a time series, m is a step amplitude, and u (0) is a unit step response;
the system is set to be in a zero initial state, and the output of the compensation torque is T comp (z)：
Figure FDA0003724088190000026
T is obtained by partial power series method and inverse z-transform comp The time domain expression of (a):
Figure FDA0003724088190000031
in the formula, T comp (k) The time-domain response of the torque is compensated,
Figure FDA0003724088190000032
for time series k to delay order k 0 Remainder of +1, delay order k 0 +1 includes k 0 The order communication time delay and the 1-order acceleration observation time delay.
5. The wind turbine generator test bed time delay identification method based on instability feature extraction as claimed in claim 4, wherein the time domain response T to the compensation torque in the step 4 is comp (k) Performing convergence analysis, and extracting the determined relation tau (T) between the oscillation period and the time delay of the compensation torque during instability OSC ) The method specifically comprises the following steps:
step 4-1, time-domain response T to compensation torque comp (k) Convergence properties were analyzed:
a. when beta is<1, namely: j. the design is a square t /J s When < 2, the base number of the exponential part is less than 1, every k 0 The +1 step converges once and approaches to 0, and the system is stable;
b. when β ═ 1, i.e.: j. the design is a square t /J s When the base number of the exponential part is equal to 1, oscillating in constant amplitude, and destabilizing the system;
c. when beta is>1, namely: j. the design is a square t /J s When the ratio is more than 2, the base number of the exponential part is more than 1, and every k 0 +1 step of gradual divergence, and instability of system oscillation;
step 4-2, extracting the time delay order based on the convergence property analysisNumber k 0 Oscillation period T of compensation torque OSC The determination relationship is as follows:
T OSC ＝2·(k 0 +1)·T
step 4-3, the communication time delay tau is k 0 T, obtaining the oscillation period T of the compensation torque in the event of instability OSC Determining the relationship tau (T) to the time delay tau OSC ) Comprises the following steps:
τ(T OSC )＝(T OSC -2·T)/2。
6. the system for realizing the wind turbine generator test bed time delay identification method based on the instability feature extraction of the method of any one of claims 1 to 5 is characterized by comprising the following steps:
the model construction module is used for establishing a wind turbine generator test bed transmission chain model based on a rotational inertia compensation strategy and obtaining a compensation torque model when the test bed carries out dynamic simulation on a wind turbine
Figure FDA0003724088190000033
The discretization module is used for discretizing a transmission chain model of the wind turbine generator test bed to obtain a z-domain transfer function H (z) taking the compensation torque as output and the unbalanced torque as input;
the conversion module is used for enabling the unbalanced torque to be step input and the system to be in a zero initial state based on the wind turbine generator test bed transmission chain discrete model, and obtaining the time domain response T of the compensation torque through a partial power series method and z inverse transformation comp (k)；
A relation extraction module for time-domain response T to the compensation torque comp (k) Performing convergence analysis, and extracting the determined relation tau (T) between the oscillation period and the time delay of the compensation torque during instability OSC )；
Wherein
Figure FDA0003724088190000041
For rotational speed acceleration, z represents z transformation, k is a time series, T OSC The oscillation period of the torque is compensated for when the instability occurs.
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