CN113722863B - Dynamic characteristic simulation system of wind turbine - Google Patents

Dynamic characteristic simulation system of wind turbine Download PDF

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CN113722863B
CN113722863B CN202111066617.XA CN202111066617A CN113722863B CN 113722863 B CN113722863 B CN 113722863B CN 202111066617 A CN202111066617 A CN 202111066617A CN 113722863 B CN113722863 B CN 113722863B
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郭鸿浩
林欣欣
杨浩
姜本笑
郭前岗
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Nanjing University of Posts and Telecommunications
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Abstract

The invention discloses a dynamic characteristic simulation system of a wind turbine, and belongs to the technical field of wind power generation. The simulation system includes: the device comprises a motor, a position sensor, a speed calculation module, an acceleration calculation module, a wind turbine aerodynamic torque calculation module, a feedback torque calculation module, a reference torque calculation module, a torque controller and a three-phase full-bridge converter. In the control method of the simulation system, a reference torque calculation module takes three quantities of aerodynamic torque, feedback torque and rotor acceleration of a wind turbine as inputs, and the obtained reference torque is taken as an input quantity of a torque controller to carry out torque closed-loop control on a motor. The wind turbine simulation system can inhibit torque fluctuation of the motor, so that the stability is good, the simulation accuracy is high, and the wind turbine simulation system is suitable for simulation of dynamic characteristics of wind turbines.

Description

Dynamic characteristic simulation system of wind turbine
Technical Field
The invention discloses a dynamic characteristic simulation system of a wind turbine, and belongs to the technical field of wind power generation.
Background
A wind power generation unit usually needs long and difficult preliminary preparation work from design and manufacture to practical application, and meanwhile, the assessment of limit operation conditions possibly occurring needs to be considered. However, the method is limited by conditions, and has great difficulty in experimental study of wind power generation technology. The wind turbine simulation technology is an effective solution, the implementation of the scheme is flexible, wind turbines with different performances can be simulated only by changing software, time and labor are saved, and the cost is low.
Wind turbine simulation systems typically employ motors (e.g., dc motors, asynchronous motors, permanent magnet synchronous motors, brushless dc motors, etc.) with closed-loop control of torque (power) to simulate the torque (power) output by an actual wind turbine. Most of the existing researches are conducted on the characteristics of the wind turbine under the steady state condition, but only the steady state characteristics of the wind turbine are researched, and the method has no practical significance on the inspection of the whole system. Simulation of wind turbine dynamic characteristics is necessary because only the complete wind turbine characteristics are simulated to be used for testing the actual wind power generation system, thereby avoiding difficulties in field commissioning. The dynamic characteristic simulation of the wind turbine is to introduce the difference between the mechanical parameters of the motor and the actual wind turbine into a control strategy, so that the output power of the simulated motor is consistent with that of the wind turbine in a steady state, and the time-varying process of the actual unit rotating speed and torque is simulated under the condition of wind speed or load torque variation, so that a simulation system is closer to reality.
The moment of inertia of an actual wind turbine is usually much larger than that of a motor, and when the wind speed is changed frequently, the fluctuation of the rotating speed of the actual wind turbine is not very large, in contrast, a motor with small inertia has larger fluctuation of the rotating speed, and further power fluctuation of a generator is caused, which is a phenomenon not existing in an actual system, so that inertia compensation is needed for the simulated motor. The existing wind turbine dynamic simulation method is mainly divided into a speed closed-loop control simulation method and a torque closed-loop control simulation method. The torque closed-loop control simulation method based on acceleration feedback is most widely used because of simple implementation. However, this method is prone to amplify velocity noise, and due to a part of delay in acceleration feedback, the system is prone to become unstable, and a low-pass filter is often required to be introduced into the feedback loop to increase the stability of the system. The existing research is mostly aimed at designing acceleration observers to reduce feedback loop noise, designing filters to increase system stability, etc. But the disadvantage is that the accuracy of the simulation system is often not high while it is ensured to be stable. The dynamic process is the key for examining the stability of the wind power generation system, so that a stable, flexible and accurate wind turbine simulation method is necessary to provide a reliable basis for the research of wind power generation technology in laboratory environment.
Disclosure of Invention
The invention aims to: the invention discloses a dynamic characteristic simulation system of a wind turbine, which is used for simulating the dynamic characteristic of the wind turbine. The control method of the simulation system fuses the model prediction control thought, so that the simulation accuracy of the simulation system is improved on the premise of stability.
In order to achieve the above purpose, the present invention provides the following technical solutions: a wind turbine dynamic characteristic simulation system includes: the device comprises a motor, a position sensor, a speed calculation module, an acceleration calculation module, a feedback torque calculation module, a wind turbine aerodynamic torque calculation module, a reference torque calculation module, a torque controller and a three-phase full-bridge converter.
Wherein: the motor is connected with the wind driven generator through a transmission shaft; the input end of the motor is connected with the output end of the three-phase full-bridge converter, the rotating part of the position sensor is coaxially arranged with the rotor of the motor, and the stationary part is fixed on the motor shell; the output of the position sensor is an angle signal theta of the motor; the input of the speed calculation module is theta, and the output is the rotor rotating speed omega m The method comprises the steps of carrying out a first treatment on the surface of the The input of the acceleration calculation module is omega m The output is the rotor acceleration;
a simulation model of the wind turbine is built in a pneumatic torque calculation module of the wind turbine, and the input of the module is omega m The wind speed v generated by the wind speed model is output as the aerodynamic torque T equivalent to the high-speed shaft by the wind turbine simulation model wt ；
The feedback torque calculation module inputs the three-phase current i of the motor and theta a 、i b 、i c The output is feedback torque T em ；
The input of the reference torque calculation module is T wt 、T em With rotor acceleration, output as reference torque T of motor em * ；
The torque controller input is T em * 、T em The output is a switch signal;
the input of the three-phase full-bridge converter is a switching signal, and the output is i a 、i b 、i c ；
The control targets of the simulation system are as follows: under the dynamic condition, the rotating speed change process of a simulation unit consisting of the motor and the wind driven generator in the simulation system is consistent with the rotating speed change process of the wind driven generator simulation model.
Under discrete control, the simulation system randomly gives a group of switching signals from the simulation part at the initial moment, transmits the switching signals to the real object part, acts on the three-phase full-bridge converter and drives the motor, and the working flow of the simulation system is as follows:
in the real object part, the angle signal theta (k) of the motor output by the position sensor is respectively, and the three-phase current i of the motor a (k)、i b (k)、i c (k) Sampling and transmitting the sampled data to a simulation part, wherein k represents the kth moment;
in the simulation part, the input of the speed calculation module is theta (k), and the output is the rotor rotation speed omega m (k) The method comprises the steps of carrying out a first treatment on the surface of the The input of the acceleration calculation module is omega m (k) Rotor speed Ω at the previous time m (k-1) outputting a rotor acceleration at time k; the feedback torque calculation module inputs θ (k) and i a (k)、i b (k)、i c (k) The output is feedback torque T em (k) The method comprises the steps of carrying out a first treatment on the surface of the The input of the pneumatic torque calculation module of the wind turbine is omega m (k) The wind speed v (k) is output as aerodynamic torque T equivalent to a high-speed shaft of a wind turbine simulation model wt (k) The method comprises the steps of carrying out a first treatment on the surface of the Respectively calculating to obtain T wt (k) Rotor acceleration at time k, feedback torque T at the previous time em After (k-1), these three quantities are input to a reference torque calculation module which outputs a reference torque T as the motor em * (k) Will T em * (k) And T is em (k) As the input of the torque controller, the torque is closed-loop controlled, and the output is a switch control signal which is transmitted to the real object part;
in the real object part, the input of the three-phase full-bridge converter is a switch control signal, and after the switch control signal acts, three-phase current is output, so that the motor is driven to rotate, and the motor drives the wind driven generator to rotate;
the time k+1 is respectively corresponding to the angle signal theta (k+1) and the three-phase current i a (k+1)、i b (k+1)、i c (k+1) sampling, and control for proceeding to the next cycle according to the above-described procedure.
In the simulation system, T em * (k) The calculation method of (1) comprises the following steps:
step 1, listing a discrete motion equation of the simulation unit and a discrete motion equation of a wind turbine simulation model according to the two-mass equivalent model;
and simulating a discrete motion equation of the unit:
Figure BDA0003256543410000031
wherein T is g_m (k) Simulating electromagnetic torque of a wind driven generator in the unit for the moment k; j (J) m Is the rotational inertia of the motor; j (J) g The rotational inertia of the wind driven generator; sampling time is T d ；
Discrete equations of motion for wind turbine simulation models:
Figure BDA0003256543410000032
wherein T is g_wt (k) The load torque of the wind turbine simulation model at the moment k; j (J) wt The rotational inertia equivalent to a high-speed shaft is equivalent to a wind turbine simulation model; omega shape wt (k) The rotational speed equivalent to the high-speed shaft is obtained for the simulation model of the wind turbine at the moment k; omega shape wt (k-1)
The rotational speed of the wind turbine simulation model equivalent to the high-speed shaft at the moment k-1;
step 2, to make T g_m (k) And T is g_wt (k) As equal as possible, the reference torque ripple of the motor is as small as possible, so according to the model predictive control method, the cost function J is set:
Figure BDA0003256543410000033
wherein r is a weight coefficient for suppressing motor reference torque fluctuation;
step 3, deducing T em * (k) Is a parametric expression of (2);
bringing formulae (1), (2) into (3) to give J with respect to T em * (k) To solve the unitary quadratic equation of J for T em * (k) J takes the minimum value when the derivative is zero; to make a match withDynamic mechanical characteristics of the simulation unit and the wind turbine simulation model are consistent, so that T is achieved g_m (k)＝T g_wt (k) And omega m (k)＝Ω wt (k)，Ω m (k-1)＝Ω wt (k-1) further obtaining the calculation T em * (k) The parametric expression of (2) is:
Figure BDA0003256543410000034
step 4, according to T em * (k) And (3) obtaining a transfer function of the simulation system, wherein a characteristic equation of the transfer function of the simulation system in the Z domain is (5), and a parameter expression of a characteristic root is (6).
(1+r 2 )J mg Z 2 -(2J mg r 2 +γT d +J m +J mg -J wt )Z+J mg r 2 +J m -J wt ＝0
(5)
Figure BDA0003256543410000041
Wherein J mg ＝J m +J g The method comprises the steps of carrying out a first treatment on the surface of the Alpha and gamma are linearization coefficients of aerodynamic torque of the wind turbine.
Step 5, under the condition that mechanical parameters of a simulation unit and a wind turbine simulation model are known, a weight coefficient r is further contained in the transfer function, and if the simulation system is required to be stable, the weight coefficient r is selected according to the following steps: so that the characteristic root Z in formula (6) 1 And Z 2 At the same time satisfy |Z 1 ∣<1 and |Z 2 ∣<1。
Step 6, calculating a specific T according to the formula (4) em * (k) Value, T em * (k) And T is em (k) As an input to the torque controller, further, the torque controller performs a torque closed-loop control of the motor.
The beneficial effects are that: compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the invention provides a novel wind turbine dynamic characteristic simulation system, wherein the control method integrates a model prediction control idea, a weight coefficient for suppressing torque fluctuation in a cost function is introduced, and different motor torque fluctuation suppression effects are achieved by changing the value of the weight coefficient. Compared with the prior art, the method can enable the motor with small inertia to run more stably in the dynamic simulation process and be more close to the running condition of an actual large-inertia wind turbine.
Drawings
FIG. 1 is an equivalent schematic diagram of a simulated unit and an actual wind turbine generator unit;
FIG. 2 is a schematic diagram of a wind turbine dynamic characteristic simulation system according to the present invention;
fig. 3 is a block diagram of an analog system under simplified discrete control of the present invention.
Detailed Description
For a better understanding of the content of the present patent, the technical solution of the present invention will be further described with reference to the drawings and the specific examples.
Fig. 1 is an equivalent schematic diagram of a simulation unit and an actual wind generating set, in which a speed-increasing gearbox is usually present, and the gearbox ratio is n. The relation between the aerodynamic torque and the rotational inertia of the low-speed shaft and the high-speed shaft is as follows:
Figure BDA0003256543410000055
wherein T is WT Pneumatic torque of a low-speed shaft of the wind generating set; t (T) WT ' is the aerodynamic torque equivalent to the high-speed shaft of the wind generating set; j (J) WT The rotational inertia of the low-speed shaft of the wind generating set is used; j (J) WT ' is the rotational inertia of the wind generating set equivalent to the high speed shaft.
The motion equation of the actual wind generating set is as follows:
Figure BDA0003256543410000051
wherein T is g The electromagnetic torque of the wind driven generator; j (J) g The rotational inertia of the wind driven generator; omega shape WT ' is the rotational speed of the high speed shaft of the wind generating set.
In a novel wind turbine dynamic characteristic simulation system, a simulation model of an actual wind turbine is built and used for calculating aerodynamic torque of the wind turbine. The motion equation of the simulation model is as follows:
Figure BDA0003256543410000052
T wt the aerodynamic torque equivalent to the high-speed shaft is the wind turbine simulation model; j (J) wt The rotational inertia equivalent to a high-speed shaft is equivalent to a wind turbine simulation model; omega shape wt The rotational speed equivalent to the high-speed shaft is the wind turbine simulation model.
The aerodynamic torque linearization calculation process of the wind turbine simulation model is briefly described as follows:
setting the rotation radius of a wind wheel of the wind turbine as R, the wind speed as v, the air density as rho and the wind energy utilization coefficient C p The kinetic energy absorbed by the wind turbine can be calculated according to equation (4).
P wt ＝0.5ρπR 2 v 3 C p (4)
For the motion equation (3) of the simulation model, at the balance point (omega wt0 ，v 0 ) Is developed by a taylor series in the neighborhood of (2), the aerodynamic torque linearization result of the wind turbine can be expressed as:
α·Δv+γ·ΔΩ wt ＝ΔT wt (5)
wherein gamma and alpha are respectively T wt For omega wt And v. Due to T wt ＝P wt /Ω wt By combining the formula (4), gamma and alpha are respectively as follows:
Figure BDA0003256543410000053
Figure BDA0003256543410000054
wherein C is T Is the torque coefficient of the wind turbine, lambda is the tip speed ratio, lambda=Ω wt R/(v·n)，C T And C p Is C T ＝C p /λ。
The structural schematic diagram of the wind turbine dynamic characteristic simulation system provided by the invention is shown in fig. 2, and comprises the following components: the device comprises a permanent magnet synchronous motor, a position sensor, a speed calculation module, an acceleration calculation module, a feedback torque calculation module, a wind turbine pneumatic torque calculation module, a reference torque calculation module, a torque controller and a three-phase full-bridge converter.
Wherein: the permanent magnet synchronous motor is connected with the wind driven generator through a transmission shaft; the input end of the permanent magnet synchronous motor is connected with the output end of the three-phase full-bridge converter, the rotating part of the position sensor is coaxially arranged with the rotor of the permanent magnet synchronous motor, and the stationary part is fixed on the shell of the permanent magnet synchronous motor; the output of the position sensor is an angle signal theta of the permanent magnet synchronous motor; the input of the speed calculation module is theta, and the output is the rotor rotating speed omega m The method comprises the steps of carrying out a first treatment on the surface of the The input of the acceleration calculation module is omega m The output is the rotor acceleration;
a simulation model of the wind turbine is built in a pneumatic torque calculation module of the wind turbine, and the input of the module is omega m The wind speed v is output as aerodynamic torque T equivalent to a high-speed shaft of a wind turbine simulation model wt ；
The feedback torque calculation module inputs three-phase current i of theta and permanent magnet synchronous motor a 、i b 、i c The output is feedback torque T em ；
The input of the reference torque calculation module is T wt 、T em With the acceleration of the rotor, the output is the reference torque T of the permanent magnet synchronous motor em * ；
The torque controller input is T em * 、T em The output is a switch signal;
the input of the three-phase full-bridge converter is a switching signal, and the output is i a 、i b 、i c ；
The control targets of the simulation system are as follows: under the dynamic condition, the rotating speed change process of a simulation unit consisting of the permanent magnet synchronous motor and the wind driven generator in the simulation system is consistent with the rotating speed change process of the wind driven generator simulation model.
The simulation system is under discrete control, a group of switching signals are randomly given out by the simulation part at the initial moment, transmitted to the real object part, acted on the three-phase full-bridge converter and used for driving the permanent magnet synchronous motor, and the working flow of the simulation system is as follows:
in the real object part, angle signals theta (k) of the permanent magnet synchronous motor output by the position sensor are respectively used for three-phase current i of the permanent magnet synchronous motor a (k)、i b (k)、i c (k) Sampling and transmitting the sampled data to a simulation part, wherein k represents the kth moment;
in the simulation part, the input of the speed calculation module is theta (k), and the output is the rotor rotation speed omega m (k) The method comprises the steps of carrying out a first treatment on the surface of the The input of the acceleration calculation module is omega m (k) Rotor speed Ω at the previous time m (k-1) outputting a rotor acceleration at time k; the feedback torque calculation module inputs θ (k) and i a (k)、i b (k)、i c (k) The output is feedback torque T em (k) The method comprises the steps of carrying out a first treatment on the surface of the The input of the pneumatic torque calculation module of the wind turbine is omega m (k) The wind speed v (k) is output as aerodynamic torque T equivalent to a high-speed shaft of a wind turbine simulation model wt (k) The method comprises the steps of carrying out a first treatment on the surface of the Respectively calculating to obtain T wt (k) Rotor acceleration at time k, feedback torque T at the previous time em After (k-1), these three quantities are input to a reference torque calculation module which outputs a reference torque T which is the permanent magnet synchronous motor em * (k) Will T em * (k) And T is em (k) As the input of the torque controller, the torque is closed-loop controlled, and the output is a switch control signal which is transmitted to the real object part;
in the real object part, the input of the three-phase full-bridge converter is a switch control signal, and after the switch control signal acts, three-phase current is output, so that the permanent magnet synchronous motor is driven to rotate, and the permanent magnet synchronous motor drives the wind driven generator to rotate;
the time k+1 is respectively corresponding to the angle signal theta (k+1) and the three-phase current i a (k+1)、i b (k+1)、i c (k+1) sampling, and control for proceeding to the next cycle according to the above-described procedure.
In the simulation system, T em * (k) The calculation method of (1) comprises the following steps:
step 1, listing a discrete motion equation of the simulation unit and a discrete motion equation of a wind turbine simulation model according to the two-mass equivalent model;
and simulating a discrete motion equation of the unit:
Figure BDA0003256543410000071
wherein T is g_m (k) Simulating electromagnetic torque of a wind driven generator in the unit for the moment k; j (J) m The rotational inertia of the permanent magnet synchronous motor; sampling time is T d ；
Discrete equations of motion for wind turbine simulation models:
Figure BDA0003256543410000072
wherein T is g_wt (k) The load torque of the wind turbine simulation model at the moment k; omega shape wt (k) The rotational speed equivalent to the high-speed shaft is obtained for the simulation model of the wind turbine at the moment k; omega shape wt (k-1) is the rotation speed of the simulation model of the wind turbine at the moment k-1 equivalent to the high-speed shaft;
step 2, to make T g_m (k) And T is g_wt (k) As equal as possible, the reference torque ripple of the permanent magnet synchronous motor is as small as possible, so according to the model predictive control method, a cost function J is set:
Figure BDA0003256543410000073
wherein r is a weight coefficient for inhibiting the reference torque fluctuation of the permanent magnet synchronous motor;
step 3, deducing T em * (k) Is a parametric expression of (2);
bringing formulae (8), (9) into (10) to give J with respect to T em * (k) To solve the unitary quadratic equation of J for T em * (k) J takes the minimum value when the derivative is zero; to make the dynamic mechanical characteristics of the simulation unit and the wind turbine simulation model consistent, let T g_m (k)＝T g_wt (k) And omega m (k)＝Ω wt (k)，Ω m (k-1)＝Ω wt (k-1) further obtaining the calculation T em * (k) The parametric expression of (2) is:
Figure BDA0003256543410000081
step 4, according to T em * (k) A block diagram of the simulation system under discrete control simplified in the Z domain is shown in fig. 3, wherein:
Figure BDA0003256543410000082
Figure BDA0003256543410000083
Figure BDA0003256543410000084
Figure BDA0003256543410000085
the transfer function of the simulation system can be further deduced according to the formulas (12), (13), (14) and (15), the characteristic equation of the transfer function of the simulation system is (16), and the parameter expression of the characteristic root is (17).
(1+r 2 )J mg Z 2 -(2J mg r 2 +γT d +J m +J mg -J wt )Z+J mg r 2 +J m -J wt ＝0 (16)
Figure BDA0003256543410000086
Wherein J is mg ＝J m +J g 。
Step 5, under the condition that mechanical parameters of a simulation unit and a wind turbine simulation model are known, a weight coefficient r is further contained in the transfer function, and if the simulation system is required to be stable, the weight coefficient r is selected according to the following steps: so that the characteristic root Z in the formula (17) 1 And Z 2 At the same time satisfy |Z 1 ∣<1 and |Z 2 ∣<1。
Step 6, calculating a specific T according to the formula (11) em * (k) Value, T em * (k) And T is em (k) As an input to the torque controller, further, the torque controller performs torque closed-loop control on the permanent magnet synchronous motor.
The present invention is not limited to the above embodiments, and any person skilled in the art will recognize that the modifications and substitutions are within the scope of the invention disclosed in the present invention, and the scope of the invention is defined by the claims.

Claims (4)

1. A wind turbine dynamic characteristic simulation system, characterized in that the wind turbine dynamic characteristic simulation system comprises: the device comprises a motor, a position sensor, a speed calculation module, an acceleration calculation module, a feedback torque calculation module, a wind turbine pneumatic torque calculation module, a reference torque calculation module, a torque controller and a three-phase full-bridge converter;
wherein: the motor is connected with the wind driven generator through a transmission shaft; the input end of the motor is connected with the output end of the three-phase full-bridge converter, the rotating part of the position sensor is coaxially arranged with the rotor of the motor, and the stationary part is fixed on the motor shell; the output of the position sensor is an angle signal theta of the motor; the input of the speed calculation module is theta, and the output is the rotor rotating speed omega m The method comprises the steps of carrying out a first treatment on the surface of the The input of the acceleration calculation module is omega m The output is the rotor acceleration;
a simulation model of the wind turbine is built in a pneumatic torque calculation module of the wind turbine, and the input of the module is omega m The wind speed v generated by the wind speed model is output as the aerodynamic torque T equivalent to the high-speed shaft by the wind turbine simulation model wt ；
The feedback torque calculation module inputs the three-phase current i of the motor and theta a 、i b 、i c The output is feedback torque T em ；
The input of the reference torque calculation module is T wt 、T em With rotor acceleration, output as reference torque T of motor em * ；
The torque controller input is T em * 、T em The output is a switch signal;
the input of the three-phase full-bridge converter is a switching signal, and the output is i a 、i b 、i c ；
Under discrete control, the simulation system randomly gives a group of switching signals from the simulation part at the initial moment, transmits the switching signals to the real object part, acts on the three-phase full-bridge converter and drives the motor, and the working flow of the simulation system is as follows:
in the real object part, the angle signal theta (k) of the motor output by the position sensor is respectively, and the three-phase current i of the motor a (k)、i b (k)、i c (k) Sampling and transmitting the sampled data to a simulation part, wherein k represents the kth moment;
in the simulation part, the input of the speed calculation module is theta (k), and the output is the rotor rotation speed omega m (k) The method comprises the steps of carrying out a first treatment on the surface of the Acceleration calculation moduleThe input of the block is Ω m (k) Rotor speed Ω at the previous time m (k-1) outputting a rotor acceleration at time k; the feedback torque calculation module inputs θ (k) and i a (k)、i b (k)、i c (k) The output is feedback torque T em (k) The method comprises the steps of carrying out a first treatment on the surface of the The input of the pneumatic torque calculation module of the wind turbine is omega m (k) The wind speed v (k) is output as aerodynamic torque T equivalent to a high-speed shaft of a wind turbine simulation model wt (k) The method comprises the steps of carrying out a first treatment on the surface of the Respectively calculating to obtain T wt (k) Rotor acceleration at time k, feedback torque T at the previous time em After (k-1), these three quantities are input to a reference torque calculation module which outputs a reference torque T as the motor em * (k) Will T em * (k) And T is em (k) As the input of the torque controller, the torque is closed-loop controlled, and the output is a switch control signal which is transmitted to the real object part;
in the real object part, the input of the three-phase full-bridge converter is a switch control signal, and after the switch control signal acts, three-phase current is output, so that the motor is driven to rotate, and the motor drives the wind driven generator to rotate;
the time k+1 is respectively corresponding to the angle signal theta (k+1) and the three-phase current i a (k+1)、i b (k+1)、i c (k+1) sampling, and entering control of the next cycle according to the above workflow.
2. A wind turbine dynamic characteristics simulation system according to claim 1, wherein said T em * (k) The calculation method of (2) is as follows:
step 1, listing a discrete motion equation of the simulation unit and a discrete motion equation of a wind turbine simulation model according to the two-mass equivalent model;
and simulating a discrete motion equation of the unit:
Figure FDA0003256543400000021
wherein T is g_m (k) For k time simulation unitsElectromagnetic torque of wind driven generator, J m Is the rotational inertia of the motor; j (J) g For the rotational inertia of the wind driven generator, the sampling time is T d ；
Discrete equations of motion for wind turbine simulation models:
Figure FDA0003256543400000022
wherein T is g_wt (k) The load torque of the wind turbine simulation model at the moment k; j (J) wt The rotational inertia equivalent to a high-speed shaft is equivalent to a wind turbine simulation model; omega shape wt (k) The rotational speed equivalent to the high-speed shaft is obtained for the simulation model of the wind turbine at the moment k; omega shape wt (k-1) is the rotation speed of the simulation model of the wind turbine at the moment k-1 equivalent to the high-speed shaft;
step 2, make T g_m (k) And T is g_wt (k) Equal, the reference torque fluctuation of the motor is within a preset range, and a cost function J is set according to a model predictive control method:
Figure FDA0003256543400000023
wherein r is a weight coefficient for suppressing motor reference torque fluctuation;
step 3, deducing T em * (k) Is a parametric expression of (2);
bringing formulae (1), (2) into (3) to give J with respect to T em * (k) To solve the unitary quadratic equation of J for T em * (k) J takes the minimum value when the derivative is zero; the dynamic mechanical characteristics of the simulation unit and the wind turbine simulation model are consistent, and T is the following g_m (k)＝T g_wt (k) And omega m (k)＝Ω wt (k)，Ω m (k-1)＝Ω wt (k-1) further obtaining the calculation T em * (k) The parametric expression of (2) is:
Figure FDA0003256543400000024
step 4, according to T em * (k) The transfer function of the simulation system is obtained by the parameter expression of (a) and the stability of the simulation system is analyzed;
step 5, under the condition that mechanical parameters of a simulation unit and a wind turbine simulation model are known, a weight coefficient r is further contained in a transfer function, and the value of the weight coefficient r is determined according to the stability requirement of a simulation system;
step 6, a specific T can be calculated according to the formula (4) em * (k) Value, T em * (k) And T is em (k) As an input to the torque controller, further, the torque controller performs a torque closed-loop control of the motor.
3. A wind turbine dynamic characteristics simulation system according to claim 2, wherein in step 4, the characteristic equation of the simulation system transfer function in the Z domain is (5) and the parametric expression of the characteristic root is (6) as follows:
(1+r 2 )J mg Z 2 -(2J mg r 2 +γT d +J m +J mg -J wt )Z+J mg r 2 +J m -J wt ＝0 (5)
Figure FDA0003256543400000031
wherein J is mg ＝J m +J g The method comprises the steps of carrying out a first treatment on the surface of the Alpha and gamma are linearization coefficients of aerodynamic torque of the wind turbine.
4. A wind turbine dynamic characteristic simulation system according to claim 3, wherein in step 5, the weight coefficient r is selected based on: so that the characteristic root Z in formula (6) 1 And Z 2 At the same time satisfy |Z 1 ∣<1 and |Z 2 ∣<1。
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013032077A1 (en) * 2011-09-02 2013-03-07 한국전력공사 Wind turbine simulation system and method
KR20140034631A (en) * 2012-09-12 2014-03-20 한국전력공사 Simulator of wind power generation system
CN107975458A (en) * 2017-11-14 2018-05-01 南京邮电大学 A kind of analogy method of the wind energy conversion system Flexible Transmission characteristic based on torque closed-loop control
CN111310352A (en) * 2020-02-27 2020-06-19 南京邮电大学 Method for simulating dynamic characteristics of wind turbine system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013032077A1 (en) * 2011-09-02 2013-03-07 한국전력공사 Wind turbine simulation system and method
KR20140034631A (en) * 2012-09-12 2014-03-20 한국전력공사 Simulator of wind power generation system
CN107975458A (en) * 2017-11-14 2018-05-01 南京邮电大学 A kind of analogy method of the wind energy conversion system Flexible Transmission characteristic based on torque closed-loop control
CN111310352A (en) * 2020-02-27 2020-06-19 南京邮电大学 Method for simulating dynamic characteristics of wind turbine system

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