CN112918635B - Current signal-based basic motion monitoring method for offshore floating wind turbine - Google Patents

Current signal-based basic motion monitoring method for offshore floating wind turbine Download PDF

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CN112918635B
CN112918635B CN202110313197.4A CN202110313197A CN112918635B CN 112918635 B CN112918635 B CN 112918635B CN 202110313197 A CN202110313197 A CN 202110313197A CN 112918635 B CN112918635 B CN 112918635B
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generator
current signal
transmission chain
basic motion
model
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CN112918635A (en
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谭建军
董晔弘
侯承宇
陈帅
刘涛
周昊
周舒旎
王伟龙
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Guangdong Haizhuang Offshore Wind Power Research Center Co ltd
CSIC Haizhuang Windpower Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • B63B2035/4433—Floating structures carrying electric power plants
    • B63B2035/446—Floating structures carrying electric power plants for converting wind energy into electric energy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • 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
    • Y02E10/727—Offshore wind turbines

Abstract

The invention provides a current signal-based method for monitoring basic motion of an offshore floating wind turbine, which comprises the following steps of: establishing a dynamic model of a transmission chain mechanical system, a model for controlling the dq axis voltage of a generator rotor by a generator side converter and a generator equivalent circuit model; establishing a dynamic model of a transmission chain electromechanical coupling system according to a dynamic model of the transmission chain mechanical system, a generator equivalent circuit model and a generator rotor dq shaft voltage control model, and calculating vibration response of the transmission chain mechanical system caused by basic motion to obtain characteristic frequency of the transmission chain mechanical system; and calculating the current response of the generator stator by combining with an equivalent circuit model of the generator, and calculating the current characteristic frequency of the generator stator to obtain a basic motion-mechanical vibration-current signal mapping relation. And monitoring a generator stator current signal, and obtaining a basic motion condition according to the amplitude change of the current signal characteristic frequency and a basic motion-mechanical vibration-current signal mapping relation.

Description

Current signal-based basic motion monitoring method for offshore floating wind turbine
Technical Field
The invention relates to the technical field of wind generating sets, in particular to a current signal-based method for monitoring basic motion of an offshore floating wind generating set.
Background
Over the past decade, the global wind energy industry is gradually migrating from land to the marine field. The floating type foundation supporting structure of the wind turbine generator is more suitable for deep and distant sea areas with water depth larger than 60m than a fixed foundation, but the floating type foundation supporting structure can cause the wind turbine generator to generate obvious dynamic space displacement under the combined action of wind, wave and current, aggravate the mechanical vibration of the system and bring influence on each part of the wind turbine generator.
The prior art generally installs sensors on a floating foundation support structure to monitor the foundation motion condition of the wind turbine, but such a method needs to install a plurality of sensors and also needs to separately configure an additional monitoring system, which results in increased cost. In addition, along with the increase of the number of the measurement points, the fault rate of the whole wind turbine monitoring system also can be increased, and the reliability of the monitoring system is reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for monitoring the basic motion of an offshore floating wind turbine generator based on current signals, and aims to solve the technical problems that the cost of a monitoring system is increased and the monitoring reliability is difficult to effectively ensure when a plurality of sensors are installed to monitor the basic motion of the wind turbine generator in the prior art.
The invention adopts the technical scheme that a method for monitoring the basic motion of an offshore floating wind turbine generator based on current signals,
in a first implementation, the monitoring method includes the following steps:
deducing a dynamic model of a floating wind turbine generator transmission chain electromechanical coupling system considering basic motion through historical measured data, and establishing a basic motion-mechanical vibration-current signal mapping relation;
monitoring a generator stator current signal;
calculating the characteristic frequency of the current signal of the generator stator;
and obtaining the basic motion condition according to the amplitude change of the characteristic frequency of the current signal of the generator stator and the mapping relation of basic motion, mechanical vibration and current signal.
In combination with the first implementation manner, in the second implementation manner, the basic motion-mechanical vibration-current signal mapping relationship is obtained specifically as follows:
establishing a dynamic model of a transmission chain mechanical system;
establishing a generator side converter to generator rotor dq shaft voltage control model;
establishing a generator equivalent circuit model according to a generator rotor dq shaft voltage control model of a generator side converter;
establishing a dynamic model of a transmission chain electromechanical coupling system according to a dynamic model of the transmission chain mechanical system, a generator equivalent circuit model and a generator rotor dq axis voltage control model of a generator side converter;
calculating the vibration response of a transmission chain mechanical system caused by basic motion according to a dynamic model of the transmission chain electromechanical coupling system to obtain the characteristic frequency of the transmission chain mechanical system;
according to the characteristic frequency of a transmission chain mechanical system, calculating the current response of a generator stator by combining an equivalent circuit model of the generator, obtaining the characteristic frequency of the generator stator current, and obtaining a basic motion-mechanical vibration-current signal mapping relation.
In combination with the second implementable manner, in a third implementable manner, the drive chain mechanical system dynamics model is built in the following manner:
based on the full-6-degree-of-freedom basic motion, the Lagrange method is adopted to establish a dynamic model of the transmission chain mechanical system by combining the structural characteristics and the multi-source excitation characteristics of the transmission chain mechanical system of the wind turbine generator.
With reference to the second implementable manner, in a fourth implementable manner, the generator equivalent circuit model is built as follows:
and acquiring the electromagnetic characteristics of the generator under a two-phase synchronous rotation dq coordinate system, and establishing a generator equivalent circuit model by combining the current and flux linkage of a stator and a rotor of the generator.
In combination with the second implementable manner, in a fifth implementable manner, a feedback decoupling and feedforward control method is adopted to establish a model for controlling the dq axis voltage of the generator rotor by the generator-side converter.
In a sixth implementation manner, in combination with the second implementation manner, the dynamic model of the drive chain electromechanical coupling system is established as follows:
and establishing a dynamic model of the transmission chain electromechanical coupling system according to the feedback effect of the electromagnetic torque of the generator on a dynamic model of the transmission chain mechanical system, the feedback effect of the rotating speed of a generator rotor in the dynamic model of the transmission chain mechanical system on an equivalent circuit model of the generator, and the torque control of a generator side converter on a dq shaft voltage control model of the generator rotor on the equivalent circuit model of the generator.
With reference to the second implementable manner, in a seventh implementable manner, the drive chain mechanical system characteristic frequency is specifically calculated in the following manner:
setting all the basic motions with 6 degrees of freedom to be simple harmonic motions according to a dynamic model of a transmission chain mechanical system, and deducing system damping, system rigidity and all characteristic frequencies F related to the basic motions in a system exciting force matrix by utilizing a multiple angle formula and a half angle formulabase；
Setting input rotating speed according to a dynamic model of a transmission chain mechanical system, and calculating the transmission ratio of each stage according to the number of teeth to obtain the rotating frequency and the frequency multiplication of each part, and the meshing frequency and the frequency multiplication of each gear pair; calculating all characteristic frequencies F of the dynamic model of the transmission chain mechanical system at the set input rotating speed according to the rotating frequency and the frequency multiplication of each part, the meshing frequency of each gear pair and the frequency multiplication of each gear pairsystem；
Characteristic frequency f of drive chain mechanical systemi＝Fsystem±Fbase。
With reference to the second implementable manner, in an eighth implementable manner, the generator stator current characteristic frequency is specifically calculated as follows:
the generator equivalent circuit model is rewritten into a form containing characteristic frequency components of the transmission chain mechanical system caused by vibration response of the transmission chain mechanical system;
calculating an excitation component and a torque component of a generator stator current signal according to a generator equivalent circuit model containing a mechanical vibration characteristic frequency component;
and converting an excitation component and a torque component in a rotating coordinate system into three-phase stator currents in a fixed coordinate system by adopting Park change, and calculating a side frequency band generated beside a fundamental frequency of a stator current signal to obtain the characteristic frequency of the generator stator current signal.
With reference to the first implementable manner, in a ninth implementable manner, the generator stator current signal characteristic frequency is calculated according to the method for obtaining the basic motion-mechanical vibration-current signal mapping relationship in the second implementable manner.
According to the technical scheme, the beneficial technical effects of the invention are as follows:
the method has the advantages that the generator stator current signal is utilized, a novel method capable of replacing the traditional sensor-based method for monitoring the basic motion of the offshore floating wind turbine is provided, the real-time monitoring of the basic motion state is realized by analyzing the characteristic frequency related to the basic motion and the amplitude change rule of the characteristic frequency in the generator stator current signal, the basic motion condition can be obtained only by analyzing the characteristic frequency of the generator stator current signal, and the monitoring method has the advantages of low cost and high reliability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a flow chart of basic motion-mechanical vibration-current signal mapping relationship acquisition according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the variation of the generator stator current signal and its frequency spectrum characteristics under basic motion according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the amplitude variation in the generator stator current signal directly related to the base motion according to an embodiment of the present invention;
fig. 4 is a flow chart of a method for monitoring the basic motion of an offshore floating wind turbine based on current signals according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Examples
In this embodiment, the basic motion of the wind turbine generator means that a floating type base of an offshore floating wind turbine generator generates obvious dynamic space displacement, and the basic motion of the wind turbine generator is hereinafter referred to as basic motion. The transmission chain is a core transmission structural component used for transmitting force and motion in a wind turbine generator and is also a typical transmission chain electromechanical coupling system for driving a generator to generate electricity through multi-stage gear transmission, and basic motion can cause mechanical vibration of the system so as to change the current characteristic of the generator. The current signal of the generator is often used as one of the state monitoring variables of the wind turbine generator, and the method has the advantages of high stability, convenience in measurement and the like. In the embodiment, a functional relation between basic motion-mechanical vibration-current signals is established, and the characteristic information of the basic motion can be more efficiently and reliably acquired from the current signals of the generator. Obtaining a mapping function relationship between the basic motion, the mechanical vibration and the current signal, as shown in fig. 1, specifically as follows:
the transmission chain mechanical system comprises a main shaft, a gear box and a generator rotor, the basic motion comprises displacement, speed and acceleration of the whole offshore floating wind turbine generator in the direction of 6 degrees of freedom, and the current signal is a generator stator current signal. In the following steps 1-5, the data source for establishing the model is the structural parameters and the electrical parameters of a certain type of offshore floating wind turbine, and according to the structural parameters, a dynamic model of a floating wind turbine transmission chain electromechanical coupling system can be established to obtain a mapping function relation between basic motion, mechanical vibration and current signals.
1. Establishing a dynamic model of a transmission chain mechanical system
Aiming at the structural characteristics of a multi-component mounting position, multi-level transmission, multi-engagement points, a plurality of support points, a plurality of flexible components and the like of a transmission chain mechanical system of a wind turbine generator and the multi-source excitation characteristics of basic motion, pneumatic torque, internal excitation and the like, a Lagrange method is adopted to establish a dynamic model of the transmission chain mechanical system (the dynamic model of the transmission chain mechanical system based on the full-6-degree-of-freedom basic motion), and the model is as follows (1):
Figure GDA0003302457900000051
in the above formula (1), M represents the system mass, C represents the system damping, K represents the system stiffness, F represents the system excitation force matrix, and X represents the system vibration displacement vector. Using the model established in this step, a correlation between "fundamental motion-mechanical vibration" can be derived. The dynamic model of the drive chain mechanical system established by the embodiment considers the basic motion of all 6 degrees of freedom, including the displacement, the speed and the acceleration in each degree of freedom direction, and can take the actual cabin motion condition calculated by the global coupling model of the offshore floating wind turbine as the dynamic boundary condition of the model.
2. Establishing a generator side converter to generator rotor dq shaft voltage control model
And obtaining a voltage control model of the generator side converter to the d axis and the q axis of the generator rotor by adopting a feedback decoupling and feedforward control method, wherein the model is as the following formula (2):
Figure GDA0003302457900000061
in the above-mentioned formula (2),
Figure GDA0003302457900000062
respectively representing voltages equivalent to d-axis and q-axis, RrIs rotor resistance, LlrFor leakage inductance, LmFor mutual inductance, I denotes current, subscripts d, q denote d-axis and q-axis components, respectively, subscript s denotes stator, subscript r denotes rotor, w denotesslipIs the slip，
Figure GDA0003302457900000063
And
Figure GDA0003302457900000064
are respectively proportional coefficients of the PI regulator,
Figure GDA0003302457900000065
and
Figure GDA0003302457900000066
are respectively the integral coefficients of the PI regulator,
Figure GDA0003302457900000067
wslipthe calculation is performed according to the following formula (3):
Figure GDA0003302457900000068
in the above formula (4), ws、wrThe electrical angular velocities of the stator and the rotor respectively,
Figure GDA0003302457900000069
are respectively proportional coefficients of the PI regulator,
Figure GDA00033024579000000610
are respectively the integral coefficient, Q, of the PI regulator*For system reference reactive power, P*And (3) referring to the active power of the system, wherein Q is a real-time calculation value of the reactive power of the system, and P is a real-time calculation value of the active power of the system.
The method comprises the following steps of indirectly obtaining expressions of a variable I and a variable psi in a subsequent generator equivalent circuit model.
3. Establishing a generator equivalent circuit model according to a generator side converter to generator rotor dq shaft voltage control model
Acquiring the electromagnetic characteristic of the generator under a two-phase synchronous rotation dq coordinate system, and establishing a generator equivalent circuit model by combining the currents and flux linkages of a stator and a rotor of the generator according to a dq shaft voltage control model of a rotor of the generator by a generator side converter, wherein the model is as follows (4):
Tem＝1.5p0(ΨdsIqs-ΨqsIds) (4)
in the above formula (4), TemRepresenting the electromagnetic torque of the generator, subscripts d and q respectively representing d-axis and q-axis components, subscript s representing the stator, subscript r representing the rotor, I representing the current, Ψ representing the flux linkage, p0Representing the number of pole pairs of the generator.
4. According to a dynamic model of a transmission chain mechanical system, a generator equivalent circuit model and a voltage control model of a generator rotor dq axis by a generator side converter, establishing a dynamic model of a transmission chain electromechanical coupling system
The dynamic model of the drive chain electromechanical coupling system comprises a mechanical part and a generator part. According to the feedback effect of the electromagnetic torque of the generator on a dynamic model of a transmission chain mechanical system, the feedback effect of the rotating speed of a generator rotor in the dynamic model of the transmission chain mechanical system on an equivalent circuit model of the generator and the torque control of a generator side converter on a dq shaft voltage control model of the generator rotor on the equivalent circuit model of the generator, the dynamic model of the transmission chain electromechanical coupling system is established, and the model is as follows (5):
Figure GDA0003302457900000071
in the above formula (5), M represents the system mass, C represents the system damping, K represents the system stiffness, F represents the system excitation force matrix, X represents the system vibration displacement vector, T represents the system vibration displacement vectoremRepresenting the electromagnetic torque of the generator.
5. Calculating a mapping function between a generator stator current signal and the mechanical vibration and the basic movement of the drive chain according to a dynamic model of the drive chain electromechanical coupling system
The corresponding relation between the generator stator current signal and the mechanical vibration and the basic motion of the transmission chain is a mapping function, and the mapping function is obtained by specifically calculating according to the following steps:
(1) calculating the vibration response of the mechanical system of the transmission chain caused by the basic motion to obtain the characteristic frequency of the mechanical system of the transmission chain
And solving the dynamic model of the transmission chain electromechanical coupling system by using a Runge Kutta numerical integration method to obtain the vibration response of the transmission chain mechanical system in the dynamic model of the transmission chain mechanical system, wherein the vibration response of the transmission chain mechanical system comprises the dynamic frequency conversion and the meshing frequency of each mechanical part.
Firstly, setting all 6-degree-of-freedom basic motions to be simple harmonic motions according to a dynamic model of a transmission chain mechanical system, and deducing system damping C, system rigidity K and all characteristic frequencies F related to the basic motions in a system exciting force matrix F by utilizing a multiple angle formula and a half angle formulabase。
Then, according to a dynamic model of a transmission chain mechanical system, setting the input rotating speed to be Nin(in the case of the non-basic motion, C, K, F, the relative quantity of basic motion is 0), and the conversion frequency F of each part is obtained by calculating the gear ratio of each step according to the tooth numberrAnd its frequency multiplication nFr(n-1, 2,3 …), gear pair mesh frequency F of each stagemAnd its frequency multiplication nFm. According to the frequency conversion F of each componentrrAnd its frequency multiplication nFrMesh frequency F of each gear pairmAnd its frequency multiplication nFmCalculating at input speed NinAll characteristic frequencies F of dynamic model of lower drive chain mechanical systemsystem。
Characteristic frequency f of drive chain mechanical systemi＝Fsystem±Fbase(ii) a Characteristic frequency f of transmission chain mechanical system of the stepiThe value is calculated according to the real-time running state of the wind turbine generator and is equivalent to a theoretical reference value in a mapping relation.
(2) According to the characteristic frequency of a mechanical system of a transmission chain, calculating the current response of a stator of the generator by combining an equivalent circuit model of the generator to obtain the characteristic frequency of a current signal of the stator of the generator
The generator stator current response is calculated specifically as follows:
the equivalent circuit model of the generator, namely formula (4) Tem＝1.5p0(ΨdsIqs-ΨqsIds) Rewriting into a form containing a characteristic frequency component of the drive chain mechanical system which occurs due to a vibration response of the drive chain mechanical system, as in the following formula (6):
Figure GDA0003302457900000086
in the above formula (6), T0Representing the mean torque, T, of the generatori、fi、
Figure GDA0003302457900000087
Which in turn represents the magnitude, characteristic frequency and phase of the ith torque caused by torsional vibration of the drive train mechanical system. Equation (6) is a generator equivalent circuit model containing a mechanical vibration characteristic frequency component.
Calculating excitation component i of generator stator current signal according to generator equivalent circuit model containing mechanical vibration characteristic frequency componentsMTorque component isTSpecifically, the calculation is performed according to the following formula (7):
Figure GDA0003302457900000081
in the above formula (7), isM0、isT0Both represent the mean value of the stator current component,
Figure GDA0003302457900000082
which represents the magnitude of the excitation current,
Figure GDA0003302457900000083
which represents the phase of the excitation current,
Figure GDA0003302457900000084
representing the magnitude of the torque,
Figure GDA0003302457900000085
Indicating the phase of the torque.
According to the excitationMagnetic component isMTorque component isTConverting i in a rotating coordinate system by using ParksMAnd isTConverted into three-phase stator current i in a fixed coordinate systemsa、isb、isc，isa、isb、iscSpecifically, the calculation is performed according to the following formula (8):
Figure GDA0003302457900000091
in the above formula (8), feRepresenting fundamental frequency, i, of generator stator currentsMExcitation component, i, representing generator stator current signalsTA torque component representing a generator stator current signal. i.e. isM、isTAnd fjAre related by equation (7).
Calculating and acquiring a sideband generated near the fundamental frequency of the generator stator current signal by using a formula (7), wherein the sideband is the characteristic frequency f of the generator stator current signale±fi，fiFor the characteristic frequency, f, of the drive chain mechanical systemeThe stator current fundamental frequency is the stator current fundamental frequency, and the stator current fundamental frequency is the power grid fundamental frequency.
Through the step, the physical quantity related to the characteristic frequency of the mechanical system of the drive chain is found to be the characteristic frequency of the current signal of the stator of the generator, so that the mapping function between the current signal of the stator of the generator and the mechanical vibration and the basic motion of the drive chain is fe±fi. Namely, when the offshore floating type wind generating set moves on the foundation, the characteristic frequency f of a transmission chain mechanical system can be generatediSo that a side-band f will be generated around the fundamental frequency of the generator stator current signale±fiWhile the side band fe±fiThe amplitude of (a) will vary, as shown in fig. 2 and 3; in FIGS. 2 and 3, fbBased on the frequency of movement, feFundamental frequency of stator current, fmThe meshing frequency of the gear pair. By monitoring the generator stator current signal characteristic frequency fe±fiThe amplitude change of the floating type wind turbine can reflect the condition of basic movement, and the basic movement of the floating type wind turbine on the sea can be realizedAnd (5) monitoring the movement.
According to the steps 1 to 5, the characteristic frequency f of the transmission chain mechanical system formed by the vibration response of the transmission chain mechanical system caused by the basic motion under the condition of certain basic motion can be calculated according to the historical measured data of a series of offshore floating wind turbinesiAnd simultaneously finding out the characteristic frequency f of the current signal of the stator of the generator at the momente±fiThe amplitude variation history monitoring data, so that a mapping relation table of basic motion-mechanical vibration-current signals can be obtained, and the table has a plurality of mapping relations of basic motion-mechanical vibration-current signals. Each mapping is a correspondence between "basic motion-mechanical vibration-current signal" in the case of a certain basic motion. For the offshore floating wind turbine used in other environments, when the amplitude of the characteristic frequency of the current signal of the generator stator of the offshore floating wind turbine is monitored and calculated in real time and is changed to some extent, the basic motion condition under the condition can be obtained according to the mapping relation table.
In a specific embodiment, as shown in fig. 2, the method for monitoring the basic motion of the offshore floating wind turbine based on the current signal is performed according to the following steps:
monitoring a generator stator current signal, wherein in a specific embodiment, the generator stator current signal can be directly monitored without additional addition;
calculating the characteristic frequency of the current signal of the generator stator;
and obtaining the basic motion condition according to the amplitude change of the characteristic frequency of the current signal of the generator stator and the mapping relation of basic motion, mechanical vibration and current signal.
According to the technical scheme of the embodiment, a novel method capable of replacing the traditional sensor-based monitoring method for the basic motion of the offshore floating wind turbine generator is provided by utilizing the current signal of the stator of the generator, the real-time monitoring of the state of the basic motion is realized by analyzing the characteristic frequency related to the basic motion and the amplitude change rule of the characteristic frequency in the current signal of the stator of the generator, the basic motion condition can be obtained by analyzing the characteristic frequency of the current signal of the stator of the generator, and the monitoring method has the advantages of low cost and high reliability.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims (8)

1. A method for monitoring the basic motion of an offshore floating wind turbine based on current signals is characterized by comprising the following steps:
establishing a basic motion-mechanical vibration-current signal mapping relation through historical measured data; the basic motion-mechanical vibration-current signal mapping relation is obtained in the following way: establishing a dynamic model of a transmission chain mechanical system; establishing a generator side converter to generator rotor dq shaft voltage control model; establishing a generator equivalent circuit model according to a generator rotor dq shaft voltage control model of a generator side converter; establishing a dynamic model of a transmission chain electromechanical coupling system according to a dynamic model of the transmission chain mechanical system, a generator equivalent circuit model and a generator rotor dq axis voltage control model of a generator side converter; calculating the vibration response of a transmission chain mechanical system caused by basic motion according to a dynamic model of the transmission chain electromechanical coupling system to obtain the characteristic frequency of the transmission chain mechanical system; calculating the current response of a generator stator by combining an equivalent circuit model of a generator according to the characteristic frequency of a transmission chain mechanical system, obtaining the characteristic frequency of the generator stator current, and obtaining a basic motion-mechanical vibration-current signal mapping relation;
monitoring a generator stator current signal;
calculating the characteristic frequency of the current signal of the generator stator;
and obtaining the basic motion condition according to the amplitude change of the characteristic frequency of the current signal of the generator stator and the mapping relation of basic motion, mechanical vibration and current signal.
2. The method for monitoring the basic motion of the offshore floating wind turbine based on the current signal, according to claim 1, wherein the kinetic model of the drive train mechanical system is established in the following way:
based on the full-6-degree-of-freedom basic motion, the Lagrange method is adopted to establish a dynamic model of the transmission chain mechanical system by combining the structural characteristics and the multi-source excitation characteristics of the transmission chain mechanical system of the wind turbine generator.
3. The method for monitoring the basic motion of the offshore floating wind turbine based on the current signal, according to claim 1, wherein the generator equivalent circuit model is established in the following way:
and acquiring the electromagnetic characteristics of the generator under a two-phase synchronous rotation dq coordinate system, and establishing a generator equivalent circuit model by combining the current and flux linkage of a stator and a rotor of the generator.
4. The method for monitoring the basic motion of the offshore floating wind turbine based on the current signal as claimed in claim 1, wherein a feedback decoupling and feedforward control method is adopted to establish a model for controlling the dq axis voltage of the generator rotor by the generator side converter.
5. The method for monitoring the basic motion of the offshore floating wind turbine based on the current signal, according to claim 1, wherein the kinetic model of the drive chain electromechanical coupling system is established in the following way:
and establishing a dynamic model of the transmission chain electromechanical coupling system according to the feedback effect of the electromagnetic torque of the generator on a dynamic model of the transmission chain mechanical system, the feedback effect of the rotating speed of a generator rotor in the dynamic model of the transmission chain mechanical system on an equivalent circuit model of the generator, and the torque control of a generator side converter on a dq shaft voltage control model of the generator rotor on the equivalent circuit model of the generator.
6. The method for monitoring the basic motion of the offshore floating wind turbine based on the current signal as claimed in claim 1, wherein the characteristic frequency of the drive train mechanical system is calculated in the following way:
setting all the basic motions with 6 degrees of freedom to be simple harmonic motions according to a dynamic model of a transmission chain mechanical system, and deducing system damping, system rigidity and all characteristic frequencies F related to the basic motions in a system exciting force matrix by utilizing a multiple angle formula and a half angle formulabase；
Setting input rotating speed according to a dynamic model of a transmission chain mechanical system, and calculating the transmission ratio of each stage according to the number of teeth to obtain the rotating frequency and the frequency multiplication of each part, and the meshing frequency and the frequency multiplication of each gear pair; calculating all characteristic frequencies F of the dynamic model of the transmission chain mechanical system at the set input rotating speed according to the rotating frequency and the frequency multiplication of each part, the meshing frequency of each gear pair and the frequency multiplication of each gear pairsystem；
Characteristic frequency f of drive chain mechanical systemi＝Fsystem±Fbase。
7. The method for monitoring the basic motion of the offshore floating wind turbine based on the current signal as claimed in claim 1, wherein the generator stator current characteristic frequency is calculated in the following way:
the generator equivalent circuit model is rewritten into a form containing characteristic frequency components of the transmission chain mechanical system caused by vibration response of the transmission chain mechanical system;
calculating an excitation component and a torque component of a generator stator current signal according to a generator equivalent circuit model containing a mechanical vibration characteristic frequency component;
and converting the excitation component and the torque component in the rotating coordinate system into three-phase stator currents in the fixed coordinate system by adopting Park change, and calculating a side frequency band generated beside the fundamental frequency of the stator current signal to obtain the characteristic frequency of the generator stator current signal.
8. The method for monitoring the basic motion of the offshore floating wind turbine based on the current signal, according to claim 1, wherein the generator stator current signal characteristic frequency is calculated according to the method for calculating the basic motion-mechanical vibration-current signal mapping relation, according to claim 1.
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