CN112983753A - Draught fan mechanical dynamic simulation method and system based on speed-sensorless ground test bed - Google Patents

Draught fan mechanical dynamic simulation method and system based on speed-sensorless ground test bed Download PDF

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CN112983753A
CN112983753A CN202110233276.4A CN202110233276A CN112983753A CN 112983753 A CN112983753 A CN 112983753A CN 202110233276 A CN202110233276 A CN 202110233276A CN 112983753 A CN112983753 A CN 112983753A
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test bed
wind turbine
ground test
rotational inertia
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CN112983753B (en
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徐胜元
殷明慧
邹云
周连俊
顾伟峰
葛嵩林
陈载宇
汪成根
孙蓉
刘建坤
卜京
杨炯明
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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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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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
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Abstract

The invention discloses a fan machine dynamic simulation method and system based on a ground test bed without a speed sensor. The method comprises the steps of changing an observation mode of acceleration in a torque compensation loop on the basis of a discrete model of a wind turbine test bed with time lag, introducing a high-order filter, testing a full-power ground test bed of the wind turbine and a wind turbine to be simulated to obtain rotational inertia of the full-power ground test bed and the wind turbine to be simulated, obtaining a motor driving torque response value and a generator electromagnetic torque response value of the test bed, calculating a difference value of the two and dividing the difference value by the rotational inertia of the whole test bed to observe the acceleration, and finally performing inertia compensation based on the acceleration. Compared with the traditional rotational inertia compensation strategy based on the rotational speed difference, the rotational inertia compensation strategy can be realized without installing a high-precision rotational speed sensor, so that the full-power test bed can stably simulate a wind turbine with large rotational inertia, and scientific research personnel can be assisted to carry out experiments such as wind turbine power generation, control, net involvement and the like in a laboratory environment.

Description

Draught fan mechanical dynamic simulation method and system based on speed-sensorless ground test bed
Technical Field
The invention belongs to the field of wind turbine simulators, and particularly relates to a dynamic simulation method and system for a wind turbine machine based on a ground test bed without a speed sensor.
Background
The healthy and rapid development of the wind power generation technology is not free from a large number of test tests and test verifications. Because the experiment is extremely difficult and time-consuming to develop in an actual wind field, the full-power ground test bed of the wind turbine generator makes it possible for researchers to develop the experiment of the wind turbine generator in a laboratory. However, the rotational inertia of the test bed is smaller than that of the actual wind turbine, and in order to enable the test bed to reproduce the slow dynamic mechanical characteristics of the actual wind turbine, the current mainstream solution is to virtually compensate the rotational inertia of the test bed by using a rotational inertia compensation strategy.
The existing rotational inertia compensation strategy generally obtains acceleration by a rotational speed difference method so as to realize rotational inertia compensation. The method needs to measure the rotating speed of the test bed with high precision, and if the rotating speed measurement error is large, the failure of the compensation strategy is easily caused. For a small-capacity wind turbine generator ground test bed, the small-capacity wind turbine generator ground test bed is small in size, is often used for simulating the rotating speed condition of a high-speed side of a wind turbine generator, is high in rotating speed (about 1500 rpm), is convenient to install a rotating speed sensor to achieve high-precision measurement of the rotating speed, and further can achieve a rotational inertia compensation strategy based on a rotating speed difference method. But the rotation speed of the MW grade full power ground test bed is much lower. Take golden wind science and technology 6MW full power wind turbine generator system test bench as an example, the test bench adopts directly driving the generator type, and its rotational speed range only receives on-the-spot electromagnetic interference's serious influence simultaneously between 0 ~ 20rpm, and the rotational speed is difficult to the accurate measurement, and this realization that will influence current inertia compensation strategy algorithm certainly.
In addition, when a rotational inertia compensation strategy based on rotational speed difference is realized on a test bed, one-step acceleration observation time lag is introduced when the acceleration is obtained, and meanwhile, the test bed also has communication time lag, the two time lags can reduce the rotational inertia simulation multiple of the test bed (under the condition that the time lag exists, the maximum simulation multiple of the rotational inertia of the test bed is only 2), and when the rotational inertia of the wind turbine is larger than 2 times of the rotational inertia of the test bed, the test bed can oscillate and destabilize.
Based on the above situation, there is an urgent need for a dynamic simulation method for a wind turbine machine based on a ground test bed without a speed sensor, and for a full-power ground test bed, the influence of time lag on the stability of the test bed can be accurately eliminated while a rotation speed sensor is not required to be introduced, so that the test bed can simulate a wind turbine with a larger rotational inertia multiple.
Disclosure of Invention
The invention aims to provide a dynamic simulation method and a dynamic simulation system for a fan machine based on a ground test bed without a speed sensor, aiming at the problems in the prior art.
The technical solution for realizing the purpose of the invention is as follows: a dynamic simulation method for a fan machine based on a ground test bed without a speed sensor comprises the following steps:
step 1, testing a full-power ground test bed of a wind turbine generator set, and determining the rotational inertia J of the test beds；
Step 2, determining the model of the wind turbine to be simulated by the ground test bed, and determining the rotational inertia J of the wind turbinet；
Step 3, collecting a response value T of the driving torque of the motor of the ground test bedsAnd generator electromagnetic torque response value Tg；
Step 4, solving the rotating speed acceleration alpha of the ground test bedcomp；
Step 5, obtaining the compensation torque TcompMeanwhile, a filter is constructed, a rotational inertia compensation strategy is realized, and the test bed can stably simulate a wind turbine with large-multiple rotational inertia.
Further, the rotating speed and the acceleration alpha of the test bed in the step 4compThe calculation formula of (2) is as follows:
Figure BDA0002959493320000021
further, the compensation torque T in step 5compThe calculation formula of (2) is as follows:
Tcomp＝(Jt-Js)·αcomp。
further, the constructing a filter in step 5 specifically includes:
step 5-1, determining communication time lag order k0：
k0＝[τ/T]
In the formula, tau is the communication time lag duration of the ground test bed, and T is the sampling duration of the ground test bed PLC;
step 5-2, selecting k0The order of the digital filter is as follows:
Figure BDA0002959493320000022
in the formula, alphadIs k0The parameter of the order digital filter has a value range of 0 < alphad＜1，1～k0-the 1 st order filter parameters are all taken to be zero;
wherein the filter parameter αdThe expression of (a) is:
Figure BDA0002959493320000023
a wind turbine mechanical dynamic simulation system based on a non-speed sensor ground test stand, the system comprising:
the first data acquisition module is used for testing the full-power ground test bed of the wind turbine generator and determining the rotational inertia J of the test beds；
The second data acquisition module is used for determining the model of the wind turbine to be simulated by the ground test bed and determining the moment of inertia J of the wind turbinet；
A third data acquisition module for acquiring the response value T of the motor driving torque of the ground test bedsAnd generator electromagnetic torque response value Tg；
A fourth data acquisition module for calculating the rotation speed and acceleration alpha of the ground test bedcomp；
Analog module for determining a compensation torque TcompMeanwhile, a filter is constructed, a rotational inertia compensation strategy is realized, and the test bed can stably simulate a wind turbine with large-multiple rotational inertia.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
step 1, testing a full-power ground test bed of a wind turbine generator set, and determining the rotational inertia J of the test beds；
Step 2, determining the model of the wind turbine to be simulated by the ground test bed, and determining the rotational inertia J of the wind turbinet；
Step 3, collecting a response value T of the driving torque of the motor of the ground test bedsAnd generator electromagnetic torque response value Tg；
Step 4, solving the rotating speed acceleration alpha of the ground test bedcomp；
Step 5, obtaining the compensation torque TcompMeanwhile, a filter is constructed, a rotational inertia compensation strategy is realized, and the test bed can stably simulate a wind turbine with large-multiple rotational inertia.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
step 1, testing a full-power ground test bed of a wind turbine generator set, and determining the rotational inertia J of the test beds；
Step 2, determining the model of the wind turbine to be simulated by the ground test bed, and determining the rotational inertia J of the wind turbinet；
Step 3, collecting a response value T of the driving torque of the motor of the ground test bedsAnd generator electromagnetic torque response value Tg；
Step 4, solving the rotating speed acceleration alpha of the ground test bedcomp；
Step 5, obtaining the compensation torque TcompMeanwhile, a filter is constructed, a rotational inertia compensation strategy is realized, and the test bed can stably simulate a wind turbine with large-multiple rotational inertia.
Compared with the prior art, the invention has the following remarkable advantages: 1) the method breaks through the limitation that the existing rotational inertia compensation strategy needs to carry out high-precision measurement on the rotating speed, and can realize the rotational inertia compensation strategy without carrying out high-precision measurement on the rotating speed; 2) the invention provides a rotational inertia compensation methodDoes not introduce acceleration observation time lag, adopts k0The order filter can improve the rotational inertia simulation multiple of the test bed, so that the full-power ground test bed can effectively reproduce the slow dynamic mechanical process of the actual wind turbine; 3) the invention is simple and easy to implement and has obvious improvement effect.
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 dynamic simulation method of a fan machine based on a ground test bed without a speed sensor.
FIG. 2 is a schematic diagram of the structural design and operation of a 6MW full-power ground test bed in one embodiment.
FIG. 3 is a schematic diagram of a discrete domain model of a full-power ground test bed of a wind turbine generator system in one embodiment.
FIG. 4 is a graph of experimental results of an embodiment of a 1 st order filter applied at a sinusoidal wind speed, where (a) is a schematic diagram of the sinusoidal wind speed used in the experiment, (b) is a trace diagram of the rotational speed of the full-power ground test bed at the sinusoidal wind speed, and (c) is a graph of the compensation torque of the test bed at the sinusoidal wind speed.
FIG. 5 is a graph showing the experimental results of applying a 1 st order filter at turbulent wind speed in one embodiment, where (a) is a schematic diagram of the turbulent wind speed used in the experiment, (b) is a comparison graph of the full power ground test stand rotational speed trajectory and the FAST simulation trajectory at turbulent wind speed, (c) is a graph of the test stand compensation torque at turbulent wind speed, and (d) is a graph of the test stand driving torque at turbulent wind speed.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further 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.
It should be noted that if the description of "first", "second", etc. is provided in the embodiment of the present invention, the description of "first", "second", etc. is only for descriptive purposes and is not to be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
In one embodiment, in conjunction with fig. 1, there is provided a method for dynamic simulation of a wind turbine machine based on a ground test stand without a speed sensor, the method comprising the steps of:
step 1, testing a full-power ground test bed of a wind turbine generator set, and determining the rotational inertia J of the test beds；
Step 2, determining the model of the wind turbine to be simulated by the ground test bed, and determining the rotational inertia J of the wind turbinet；
Step 3, collecting a response value T of the driving torque of the motor of the ground test bedsAnd generator electromagnetic torque response value Tg；
Step 4, solving the rotating speed acceleration alpha of the ground test bedcomp；
Step 5, obtaining the compensation torque TcompMeanwhile, a filter is constructed, a rotational inertia compensation strategy is realized, and the test bed can stably simulate a wind turbine with large-multiple rotational inertia.
Further, in one embodiment, the test stand rotational speed and acceleration α in step 4compThe calculation formula of (2) is as follows:
Figure BDA0002959493320000051
further, in one embodiment, the compensation torque T in step 5 iscompThe calculation formula of (2) is as follows:
Tcomp＝(Jt-Js)·αcomp。
further, in one embodiment, the constructing the filter in step 5 specifically includes:
step 5-1, determining communication time lag order k0：
k0＝[τ/T]
In the formula, tau is the communication time lag duration of the ground test bed, and T is the sampling duration of the ground test bed PLC;
step 5-2, selecting k0The order of the digital filter is as follows:
Figure BDA0002959493320000052
in the formula, alphadIs k0The parameter of the order digital filter has a value range of 0 < alphad＜1，1～k0-the 1 st order filter parameters are all taken to be zero;
wherein the filter parameter αdThe expression of (a) is:
Figure BDA0002959493320000053
here, in order to increase the simulation multiple of the test stand, k is designed in the existing research0+1(k0Order representing communication time lag, order 1 representing acceleration observation time lag) order filter, but k is selected0The +1 order filter cannot improve the simulation multiple of the test bed under the mechanical dynamic simulation method, so that the selection rule of the filter parameters needs to be given again, and the test bed can simulate a wind turbine with larger rotational inertia multiple.
The invention provides a dynamic simulation method of a fan machine based on a ground test bed without a speed sensor, which is characterized in that the rotational inertia of the wind turbine full-power ground test bed and a wind turbine to be simulated is obtained by testing the wind turbine full-power ground test bed and the wind turbine to be simulated, and then a test bed motor driving torque response value and a generator are obtainedAnd the electromagnetic torque response value is obtained by calculating the difference value of the electromagnetic torque response value and the electromagnetic torque response value, dividing the difference value by the integral rotational inertia of the test bed system to observe the acceleration, and finally performing inertia compensation based on the observed acceleration. The invention breaks through the limitation that the prior rotational inertia compensation strategy needs to carry out high-precision measurement on the rotating speed, the method can realize the rotational inertia compensation strategy without carrying out high-precision measurement on the rotating speed, and meanwhile, the rotational inertia compensation method provided by the invention does not introduce acceleration observation time lag, and adopts k0The order filter can improve the rotational inertia simulation multiple of the test bed, so that the full-power ground test bed can effectively reproduce the slow dynamic mechanical process of the actual wind turbine. The invention is simple and easy to implement and has obvious improvement effect.
In one embodiment, a wind turbine machine dynamic simulation system based on a speed sensorless ground test stand is provided, the system comprising:
the first data acquisition module is used for testing the full-power ground test bed of the wind turbine generator and determining the rotational inertia J of the test beds；
The second data acquisition module is used for determining the model of the wind turbine to be simulated by the ground test bed and determining the moment of inertia J of the wind turbinet；
A third data acquisition module for acquiring the response value T of the motor driving torque of the ground test bedsAnd generator electromagnetic torque response value Tg；
A fourth data acquisition module for calculating the rotation speed and acceleration alpha of the ground test bedcomp；
Analog module for determining a compensation torque TcompMeanwhile, a filter is constructed, a rotational inertia compensation strategy is realized, and the test bed can stably simulate a wind turbine with large-multiple rotational inertia.
For specific limitations of the dynamic simulation system of the wind turbine based on the ground test bed without the speed sensor, reference may be made to the above limitations of the dynamic simulation method of the wind turbine based on the ground test bed without the speed sensor, and details are not repeated here. All modules in the fan machinery dynamic simulation system based on the speed sensor-free ground test bed can be completely or partially realized through software, hardware and a combination of the software and the hardware. 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.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
step 1, testing a full-power ground test bed of a wind turbine generator set, and determining the rotational inertia J of the test beds；
Step 2, determining the model of the wind turbine to be simulated by the ground test bed, and determining the rotational inertia J of the wind turbinet；
Step 3, collecting a response value T of the driving torque of the motor of the ground test bedsAnd generator electromagnetic torque response value Tg；
Step 4, solving the rotating speed acceleration alpha of the ground test bedcomp；
Step 5, obtaining the compensation torque TcompMeanwhile, a filter is constructed, a rotational inertia compensation strategy is realized, and the test bed can stably simulate a wind turbine with large-multiple rotational inertia.
For specific definition of each step, reference may be made to the definition of the dynamic simulation method of the wind turbine machine based on the speed-sensorless ground test bed, and details are not repeated here.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
step 1, testing a full-power ground test bed of a wind turbine generator set, and determining the rotational inertia J of the test beds；
Step 2, determining the model of the wind turbine to be simulated by the ground test bed, and determining the rotational inertia J of the wind turbinet；
Step 3, collecting the driving torque response of the ground test bed motorResponse value TsAnd generator electromagnetic torque response value Tg；
Step 4, solving the rotating speed acceleration alpha of the ground test bedcomp；
Step 5, obtaining the compensation torque TcompMeanwhile, a filter is constructed, a rotational inertia compensation strategy is realized, and the test bed can stably simulate a wind turbine with large-multiple rotational inertia.
For specific definition of each step, reference may be made to the definition of the dynamic simulation method of the wind turbine machine based on the speed-sensorless ground test bed, and details are not repeated here.
As a specific example, in one embodiment, the method for simulating the mechanical dynamics of the wind turbine based on the ground test bed without the speed sensor is further verified and explained.
In this embodiment, the mechanical dynamic simulation method provided by the invention is verified by using a golden wind technology 6MW wind turbine full-power ground test bed. The 6MW full-power ground test bed is constructed in a power hardware-in-loop mode and mainly comprises a driving frequency converter, a dragging motor with the rated power of 6MW, a generator, a grid-connected converter, a master control PLC and the like. The generator and the grid-connected converter adopt the generator and the grid-connected converter of an actual wind turbine generator, the tested generator and the tested converter can be replaced according to test requirements, and the rated power of the tested generator is generally less than or equal to 6 MW.
The 6MW full-power ground test bed realizes the power control of the driving frequency converter and the tested converter by issuing a control instruction through the master control PLC. The working principle is as follows: the large power grid supplies power to the driving frequency converter through the transformer, and the driving frequency converter is controlled by the master control PLC to drive the 6MW dragging motor to operate; the 6MW dragging motor and the tested unit are connected through the coupler, the 6MW dragging motor drives the tested unit to rotate, the tested converter is controlled by the master control PLC to feed back electric energy sent by the tested unit to the dragging end, and energy is provided for the operation of the driving frequency converter and the 6MW dragging motor, so that an electric energy feedback structure is formed. The structural design and the working principle of the 6MW full-power ground test bed are shown in figure 2.
The rated power of the tested unit is generally less than or equal to 6 MW. The simulation object of the dynamic simulation experiment is a 1.5MW wind turbine generator, and the parameters are as follows.
TABLE 11.5 MW wind turbine set model parameters
Figure BDA0002959493320000081
Example I:
the method for dynamically simulating the fan machinery based on the ground test bed without the speed sensor is implemented as the following steps as shown in FIG. 3:
step 1, determining the rotational inertia J of a wind turbine generator full-power ground test beds＝7.2×105kgm2；
Step 2, determining the moment of inertia J of the wind turbinet＝5.16×106kgm2I.e. 7.16Js(because the rated rotation speed of the 6MW full-power ground test bed is very low, only the slow mechanical dynamic of the low-speed side of the wind turbine generator can be simulated, therefore, the rotation inertia of the generator in the table 1 needs to be converted to the low-speed side, and the integral rotation inertia of the 1.5MW wind turbine generator on the low-speed side is about Jt＝5.16×106kgm2)；
Step 3, collecting a response value T of the driving torque of the motor of the test bedsAnd generator electromagnetic torque response value Tg；
Step 4, obtaining the acceleration alphacompCalculating alphacompThe formula of (1) is as follows;
Figure BDA0002959493320000091
step 5, obtaining the compensation torque TcompMeanwhile, the parameters of the filter are optimized, and a rotational inertia compensation strategy is realized, so that the test bed can stably simulate a wind turbine with large-multiple rotational inertia. Wherein the torque T is compensatedcompThe determination formula of (1) is:
Tcomp＝(Jt-Js)·αcomp
constructing a filter, specifically comprising:
step 5-1, measuring the communication time lag of the full-power ground test bed for 80 ms-140 ms, the sampling time length of the test bed PLC for 100ms, and determining the communication time lag order k0＝[τ/T]＝1；
Step 5-2, selecting a 1-order digital filter, wherein the expression of the filter is as follows:
Figure BDA0002959493320000092
wherein the filter parameters
Figure BDA0002959493320000093
The experimental result of the fan mechanical dynamic simulation method based on the ground test bed without the speed sensor under the input of the sine wind speed is shown in fig. 4. Firstly, a 6MW test bed is started by using rotation speed control, after the test bed is stabilized, a slope wind speed and a sine wind speed are input, the control mode is switched to torque control, and compensation torque starts to play a role, as shown in figure 4 a). From fig. 4b) it can be seen that the 6MW full power ground test stand still operates stably under torque control and the rotational speed can track the change of the wind speed.
Example II:
the method for dynamically simulating the mechanical state of the fan based on the ground test bed without the speed sensor has the specific steps consistent with those in the embodiment I, the turbulent wind speed is used as input, and the experimental result is shown in figure 5. The 6MW test bed is firstly smoothly operated by adopting the rotating speed control, and then is switched to the torque control, and the compensation torque starts to play a role. Under the input of the slope wind, the rotating speed of the test bed is gradually increased, and then the rotating speed of the test bed is kept stable and unchanged along with the unchanged wind speed. The purpose of this step is to ensure that the 6MW test stand is in a stable operation state when the wind speed is switched to the turbulent wind speed, i.e. to ensure that no sudden impact is caused to the operation of the test stand due to the switching of the wind speed. Thereafter, the wind speed switches to a turbulent wind speed, as shown in fig. 5 a). Under the condition of turbulent wind speed input, the rotating speed of the 6MW test bed can track the change of wind speed, the test bed still keeps stable operation, and the effectiveness of the compensation strategy provided by the invention under the turbulent wind speed is verified.
In conclusion, the fan mechanical dynamic simulation method based on the speed sensor-free ground test bed can overcome the instability problem caused by communication time lag when the simulation multiple is larger than 2 without introducing a speed sensor, so that the full-power ground test bed can stably simulate the slow dynamic mechanical process of a wind turbine with large rotational inertia multiple.
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 (7)

1. A dynamic simulation method of a fan machine based on a ground test bed without a speed sensor is characterized by comprising the following steps:
step 1, testing a full-power ground test bed of a wind turbine generator set, and determining the rotational inertia J of the test beds；
Step 2, determining the model of the wind turbine to be simulated by the ground test bed, and determining the rotational inertia J of the wind turbinet；
Step 3, collecting a response value T of the driving torque of the motor of the ground test bedsAnd generator electromagnetic torque response value Tg；
Step 4, solving the rotating speed acceleration alpha of the ground test bedcomp；
Step 5, obtaining the compensation torque TcompMeanwhile, a filter is constructed, a rotational inertia compensation strategy is realized, and the test bed can stably simulate a wind turbine with large-multiple rotational inertia.
2. According to the rightThe method for dynamically simulating the mechanical performance of the wind turbine based on the ground test bed without the speed sensor according to claim 1, wherein the step 4 is performed by using the rotating speed and the acceleration α of the test bedcompThe calculation formula of (2) is as follows:
Figure FDA0002959493310000011
3. the method for wind turbine mechanical dynamic simulation based on the ground test stand without speed sensor according to claim 2, wherein the compensation torque T in step 5compThe calculation formula of (2) is as follows:
Tcomp＝(Jt-Js)·αcomp。
4. the method for dynamically simulating the mechanical state of the wind turbine based on the ground test bed without the speed sensor, according to claim 3, wherein the step 5 of constructing the filter specifically comprises the following steps:
step 5-1, determining communication time lag order k0：
k0＝[τ/T]
In the formula, tau is the communication time lag duration of the ground test bed, and T is the sampling duration of the ground test bed PLC;
step 5-2, selecting k0The order of the digital filter is as follows:
Figure FDA0002959493310000012
in the formula, alphadIs k0The parameter of the order digital filter has a value range of 0 < alphad＜1，1～k0-the 1 st order filter parameters are all taken to be zero;
wherein the filter parameter αdThe expression of (a) is:
Figure FDA0002959493310000021
5. a wind turbine mechanical dynamic simulation system based on a ground test stand without speed sensors for implementing the method of claims 1 to 4, characterized in that the system comprises:
the first data acquisition module is used for testing the full-power ground test bed of the wind turbine generator and determining the rotational inertia J of the test beds；
The second data acquisition module is used for determining the model of the wind turbine to be simulated by the ground test bed and determining the moment of inertia J of the wind turbinet；
A third data acquisition module for acquiring the response value T of the motor driving torque of the ground test bedsAnd generator electromagnetic torque response value Tg；
A fourth data acquisition module for calculating the rotation speed and acceleration alpha of the ground test bedcomp；
Analog module for determining a compensation torque TcompMeanwhile, a filter is constructed, a rotational inertia compensation strategy is realized, and the test bed can stably simulate a wind turbine with large-multiple rotational inertia.
6. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 4 are implemented when the computer program is executed by the processor.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
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