CN116578013A - Wind turbine generator system hardware-in-loop real-time simulation test system based on Bladed - Google Patents
Wind turbine generator system hardware-in-loop real-time simulation test system based on Bladed Download PDFInfo
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Abstract
The application provides a wind turbine generator system hardware-in-loop real-time simulation test system based on Bladed, wherein a server comprises a Bladed model and a SCADA system, a yaw system model is built by the simulation system, and the yaw system model comprises a wind direction model and a yaw executing mechanism model; according to the wind turbine generator system simulation system, a yaw system model is built in the simulation system to replace a Bladed simplified yaw model, meanwhile, the coupling relation between power and relative wind direction is guaranteed, the wind direction model is interacted with Bladed wind stroke model data, the influence of 3D turbulent wind is superimposed into the wind direction to be given to the main control system, the consistency of the Bladed model relative wind direction and the wind vane wind direction received by the main control system is guaranteed, the coupling of power and the wind direction is achieved, and the wind turbine generator system simulation system can be operated in a fan shutdown state, and can perfectly simulate the characteristics of a wind turbine generator system when the wind turbine generator system is in grid-connected operation.
Description
Technical Field
The application relates to the field of power simulation test systems, in particular to a wind turbine generator system hardware-in-loop real-time simulation test system and method based on Bladed;
background
Along with the wide application of the wind generating set in the field of new energy power generation, the development and design of the wind generating set and the advanced control system also need to be further optimized and promoted. The simulation system of the wind turbine generator system is built by adopting a computer simulation method, so that the wind turbine generator system test is not limited by meteorological conditions, repeated destructive tests on a real turbine generator system are avoided, the development process of products is accelerated, development cost is greatly saved, and the design level is improved.
The yaw system is an important component of the wind turbine generator, and is a wind aligning system of the fan. However, most of the existing wind power main control system tests omit a yaw system, and a wind machine is assumed to always face the horizontal incoming wind direction, so that a wind model is simplified, and complex fan conditions, a hydraulic braking system and complete yaw dynamic analysis cannot be simulated.
Under the above circumstances, the existing simulation test system cannot well meet the requirements of yaw control test of the main control system. It is therefore necessary to build a hardware-in-the-loop real-time yaw system model. Aiming at the lack of yaw model in the current wind turbine generator main control system testing link, the wind turbine generator hardware in-loop real-time simulation testing system and method based on Bladed can well meet the testing requirement of yaw control of the main control system.
Disclosure of Invention
The application aims to solve the problems in the prior art, provides a Bladed-based wind turbine generator system hardware-in-loop real-time simulation test system, and aims to solve the problem that a yaw model is lacking in a test link of a main control system of a wind turbine generator system at present.
The technical scheme of the application is as follows:
a wind turbine generator hardware-in-loop real-time simulation test system based on Bladed comprises a server, a simulation system and a main control system;
the server comprises a Bladed model and a SCADA system, wherein the Bladed model comprises a wind model and a yaw model, and the SCADA system is used for displaying wind direction and yaw state and providing automatic/manual yaw mode selection for operators;
the simulation system builds a yaw system model, wherein the yaw system model comprises a wind direction model and a yaw executing mechanism model, and the yaw system model provides a wind direction signal, a yaw sensor signal, a yaw feedback signal and a cable twisting limit signal for the main control system;
the main control system comprises a wind direction acquisition module, a yaw control strategy module and an automatic/manual mode selection module, wherein the wind direction acquisition module acquires data of the simulation system, the yaw control strategy module operates the yaw control strategy, and the main control system provides yaw instructions and yaw brake instructions for the simulation system according to wind direction signals and the yaw control strategy.
Preferably, the simulation system sends wind direction increment to a Bladed model, the Bladed model obtains yaw error through the wind direction increment, the Bladed model sends the yaw error to the simulation system, a yaw system model is built in the simulation system, the yaw system model comprises a wind direction model and a yaw executing mechanism model, the wind direction model sends wind direction signals to a main control system, the main control system sends yaw instructions and yaw braking instructions according to collected wind direction signals and a yaw control strategy, the yaw executing mechanism model simulates according to the yaw instructions and the yaw braking instructions, the yaw executing mechanism model feeds back simulated yaw sensor signals, yaw feedback signals and torsion cable limit signals to the main control system, and the main control system compares the yaw instructions and the yaw braking instructions and judges whether the action state of the yaw system model is correct or not according to the yaw sensor signals and the yaw feedback signals; the main control system calculates a cable twisting angle (yaw cable twisting angle) according to the yaw sensor signals, and stops sending yaw instructions to the yaw system model by combining cable twisting limit signals, and untwists after stopping to form a closed-loop control system.
The SCADA system monitors wind direction signals and yaw feedback signals, and operates an automatic/manual mode selection module to select an automatic yaw mode or a manual yaw mode to the master control system for yaw system model control; under the condition of no fault, the wind turbine generator selects an automatic yaw mode, and the main control system performs yaw according to wind direction signals and a yaw control strategy; and under the shutdown condition, selecting a manual yaw mode, performing clockwise yaw or anticlockwise yaw by manual operation, and switching back to an automatic yaw mode after the corresponding yaw operation is completed.
The yaw error calculation process includes the steps of:
running a Bladed model to start simulation, and controlling a wind motor to start, wait for wind, idle and grid connection;
the simulation system is provided with an absolute wind direction which is manually given in the simulation system and is input for the action of the whole yaw system, wherein the absolute wind direction is set to be 0, and the absolute wind direction is set to be positive clockwise and negative anticlockwise; cabin azimuth in the simulation system, cabin azimuth = cable torsion angle, positive north direction is set to be 0, clockwise is positive, and anticlockwise is negative; wind direction increment = relative wind direction = absolute wind direction-nacelle orientation;
the simulation system inputs the wind direction increment into the Bladed model, the wind model outputs the original wind direction (3D turbulent wind), the wind direction increment and the original wind direction are added to obtain a new wind direction A, the yaw model in the Bladed model is controlled to always keep the cabin orientation to be the north direction, the cabin orientation is 0, and then the yaw error = the new wind direction A-the cabin orientation = the new wind direction A-0 = the new wind direction A, and the yaw error = the new wind direction A.
The yaw control strategy specifically comprises the following steps:
(101) The main control system sends a yaw command according to a wind direction signal, wherein the yaw command comprises a clockwise yaw command and a counterclockwise yaw command, when the wind direction signal is greater than a threshold value kappa 1 and delayed for sigma seconds, the clockwise yaw command is set to 1, and the clockwise yaw is started; after the wind direction signal is less than the threshold value-kappa 1 and delayed for sigma seconds, a counter-clockwise yaw command is set to 1, and counter-clockwise yaw is started;
(102) Simultaneously sending a yaw braking instruction with the yaw instruction, wherein the yaw braking instruction simulates a braking mode;
(103) The yaw executing mechanism model carries out yaw control simulation according to a yaw command and a yaw brake command (8) given by the main control system, and returns a yaw sensor signal, a yaw feedback signal and a cable twisting limit signal;
(104) The yaw actuator model comprises yaw sensors, wherein the yaw sensors comprise a first yaw sensor and a second yaw sensor, signals sent by the first yaw sensor and the second yaw sensor form a yaw sensor signal (4), and the yaw sensor signal comprises four states of 00, 01, 11 and 10; the switching sequence is used for indicating the yaw system model to rotate clockwise or anticlockwise, and the switching time interval is limited by the yaw speed;
(105) The yaw feedback signals include a clockwise yaw feedback signal and a counter-clockwise yaw feedback signal; if the clockwise yaw command is 1, the clockwise yaw feedback signal is set to 1, and if the anticlockwise yaw command is 1, the anticlockwise yaw feedback signal is set to 1; if the clockwise yaw command or the anticlockwise yaw command is from 1 to 0, setting the corresponding yaw feedback signal to 0; if the clockwise yaw command or the anticlockwise yaw command is from 0 to 1, setting a corresponding yaw feedback signal to 1;
and the yaw feedback signal is sent to the main control system, the main control system judges whether the action state of the yaw system model is correct according to the yaw sensor signal and the yaw feedback signal, if not, the main control system reports the fault and sends the fault to the SCADA system for display, and if so, the cable twisting angle is calculated according to the yaw sensor signal.
(106) The cable twisting limit signals comprise a clockwise cable twisting limit signal and a counterclockwise cable twisting limit signal; if the clockwise cable twisting angle is larger than lambda degrees, the clockwise cable twisting limit signal is set to 1, and the signal is output to the main control system; if the anticlockwise cable twisting angle is < -lambda degrees, the anticlockwise cable twisting limit signal is set to be 1, and the anticlockwise cable twisting limit signal is output to the main control system; the value of lambda is set according to a yaw control strategy;
if the clockwise cable twisting limit signal is 1, the main control system sends out a clockwise yaw instruction; if the anticlockwise cable twisting limit signal is 1, the main control system sends an anticlockwise yaw instruction; selecting a zero-pressure braking mode, wherein the hydraulic pressure is 0;
(107) If the clockwise yaw command is 1, when the wind direction signal is less than the threshold value kappa 2, the clockwise yaw command is set to 0, and the clockwise yaw is stopped; if the anticlockwise yaw command is 1, when the wind direction signal > threshold value-kappa 2 anticlockwise yaw command is set to 0, stopping anticlockwise yaw; the yaw braking instruction does not need yaw action, full-pressure braking is carried out, a yaw system is locked, and hydraulic pressure is 150-200 bar;
preferably, the values of κ1, κ2, σ are set by the yaw control strategy, with κ1 being 15 °, σ being 30 seconds, and κ2 being 3 °.
The yaw braking instruction simulates a braking mode which comprises zero-pressure braking, pressure-reducing braking and full-pressure braking;
when the yaw cable is disconnected by adopting zero-pressure braking, the hydraulic pressure is 0; braking in a decompression braking mode in the normal yaw process, wherein the hydraulic pressure is 8-10 bar; the yaw system is locked without full-pressure braking, and the hydraulic pressure is 150-200 bar.
The yaw sensor signals include signal states, switching sequences, time intervals.
The signal state is composed of a first DI signal and a second DI signal, the first yaw sensor outputs the first DI signal, the second yaw sensor outputs the second DI signal, the first DI signal and the second DI signal both comprise 0 or 1 states, the combination of the first DI signal and the second DI signal outputs the yaw sensor signal, and the yaw sensor signal comprises four states of 00, 01, 11 and 10.
The switching sequence is used for indicating to send a clockwise yaw instruction or a counterclockwise yaw instruction, and the state change sequence of the first yaw sensor and the state change sequence of the second yaw sensor corresponding to the clockwise yaw instruction or the counterclockwise yaw instruction are opposite.
Time interval: the yaw sensor signals are adjacent to each other in a state transition time interval tau, tau=360° upsilon/(omega 4), wherein upsilon is the yaw rate, omega is the number of teeth yawing, and upsilon and omega are reference unit design values.
Calculating a cable twist angle from a yaw sensor signal (4) to introduce an intermediate variableThe value is an integer>The number of encoder state changes indicating a clockwise/counterclockwise change, plus 1 represents a clockwise change, minus 1 represents a counterclockwise change; when the torsion cable angle is 0, the cable is added with->When the clockwise yaw command is 1 and the corresponding sequence of signal states of the yaw sensor signals is changed once,/for>An increase of 1; when the counter-clockwise yaw command is 1 and the corresponding sequence of signal states of the yaw sensor signals is changed once,/and>1 reduction; then the cable twisting angle +.>Wherein ω yaw number of teeth.
Compared with the prior art, the application has the following beneficial effects:
compared with the prior art, the wind turbine generator hardware-in-loop real-time simulation test system based on the Bladed has the advantages that a yaw system model is built in the simulation system to replace the Bladed simplified yaw model, meanwhile, the coupling relation between power and relative wind direction is guaranteed, the wind direction model is interacted with Bladed stroke model data, the influence of 3D turbulent wind is superimposed into the wind direction to be given to the main control system, the wind direction of the Bladed model relative wind direction is consistent with the wind vane wind direction received by the main control system, and the coupling of power and wind direction is achieved. Therefore, the yaw system model not only can operate in a fan stop state, but also can perfectly simulate the characteristics of the wind turbine generator set when the wind turbine generator set is in grid-connected operation.
The yaw system model replaces a simplified yaw model in the blade, namely the relative wind direction in the simulation system is given to the blade fan model through wind direction increment, the nacelle azimuth in the blade is set to be always opposite to the initial azimuth, namely the blade yaw system is not involved in control, and the relative wind direction is changed, so that the blade nacelle azimuth change is equivalent through the wind direction change, the blade nacelle azimuth is unchanged and is output to the simulation system through yaw error, the nacelle azimuth change is realized in the simulation system, and the yaw system model required by the main control system is realized in the simulation system.
The method can well meet the test requirement of yaw control of the main control system, is beneficial to research on yaw control strategies and is beneficial to complement the short plates of the yaw system model, so that verification tests covering the whole process of the main control system of the wind turbine are formed, and the aims of improving quality, enhancing efficiency and stably operating the wind turbine are achieved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a wind turbine generator system hardware-in-loop real-time simulation test system based on Bladed;
FIG. 2 is a flow chart of the yaw control strategy of the present application;
the reference numerals are: (1) yaw error (2) wind direction increment (3) wind direction signal (4) yaw sensor signal (5) yaw feedback signal (6) cable twisting limit signal (7) yaw command (8) yaw brake command (9) automatic yaw mode (manual yaw mode).
Detailed Description
The following description of the embodiments of the present application will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on embodiments of the present application, are within the scope of the present application.
The application has the core ideas that according to the self characteristics of fundus images, a proper algorithm is designed to perform image preprocessing enhancement, then retinal blood vessel segmentation is performed based on an information migration fundus image segmentation network, and finally, intelligent analysis and prediction are performed by using a neural network combined with ordered classification, so that the purpose of intelligent analysis of fundus images is achieved.
The whole flow of the fundus image intelligent analysis system based on information migration and ordered classification of the application is that, as shown in figure 1,
a wind turbine generator hardware-in-loop real-time simulation test system based on Bladed comprises a server, a simulation system and a main control system;
the server comprises a Bladed model and a SCADA system, wherein the Bladed model comprises a wind model and a yaw model, and the SCADA system is used for displaying wind direction and yaw state and providing automatic/manual yaw mode selection for operators;
the simulation system builds a yaw system model, wherein the yaw system model comprises a wind direction model and a yaw executing mechanism model, and the yaw system model provides a wind direction signal (3), a yaw sensor signal (4), a yaw feedback signal (5) and a cable twisting limit signal (6) for the main control system;
the wind direction acquisition module, the yaw control strategy module and the automatic/manual mode selection module are operated in the main control system, and the main control system provides yaw instructions (7) and yaw braking instructions (8) for the simulation system according to the wind direction signals (3) and the yaw control strategy.
The simulation system sends a wind direction increment (2) to a Bladed model, the Bladed model obtains a yaw error (1) through the wind direction increment (2), the Bladed model sends the yaw error (1) to the simulation system, a yaw system model is built in the simulation system, the yaw system model comprises a wind direction model and a yaw actuator model, the wind direction model sends a wind direction signal (3) to a main control system, the main control system sends a yaw instruction (7) and a yaw brake instruction (8) according to the collected wind direction signal (3) and a yaw control strategy, the yaw actuator model simulates according to the yaw instruction (7) and the yaw brake instruction (8), the yaw actuator model feeds back a simulated yaw sensor signal (4), a yaw feedback signal (5) and a torsion cable limit signal (6) to the main control system, and the main control system compares the yaw instruction (7) and the yaw brake instruction (8) to judge whether the action state of the yaw system model is correct; the main control system calculates a cable twisting angle (yaw cable twisting angle) according to the yaw sensor signal (4), and stops sending yaw instructions to the yaw system model by combining the cable twisting limit signal (6), and untwists after stopping to form a complete closed loop control system; the SCADA system monitors the wind direction signal (3) and the yaw feedback signal (5), and selects an automatic yaw mode (9) or a manual yaw mode for the master control system for yaw system model control.
Under the condition of no fault, the wind turbine generator selects an automatic yaw mode (9), and the main control system performs yaw according to the wind direction signal (3) and a yaw control strategy; and under the shutdown condition, selecting a manual yaw mode, performing clockwise yaw or anticlockwise yaw by manual operation, and switching back to an automatic yaw mode after the corresponding yaw operation is completed.
The yaw error (1) calculation process comprises the steps of:
running a Bladed model to start simulation, wherein the Bladed model comprises a wind model and a yaw model, and controlling a wind motor to start, wait for wind, idle and grid-connected;
the simulation system is provided with an absolute wind direction which is manually given in the simulation system and is input for the action of the whole yaw system, wherein the absolute wind direction is set to be 0, and the absolute wind direction is set to be positive clockwise and negative anticlockwise; cabin azimuth in the simulation system, cabin azimuth = cable torsion angle, positive north direction is set to be 0, clockwise is positive, and anticlockwise is negative; wind direction increment (2) =relative wind direction=absolute wind direction-nacelle orientation;
the simulation system inputs the wind direction increment (2) into the Bladed model, the wind model outputs the original wind direction (3D turbulent wind, wind direction changes in real time), the original wind directions in the wind direction increment (2) and the wind model are added to obtain a new wind direction A, the yaw model in the Bladed model is controlled to always keep the cabin orientation to be north, the cabin orientation is 0, and then the yaw error = new wind direction A-cabin orientation = new wind direction A-0 = new wind direction A, and the yaw error (1) = new wind direction A.
As shown in fig. 2, the yaw control strategy specifically includes the steps of:
(101) The main control system sends a yaw command (7) according to a wind direction signal (3), the yaw command (7) comprises a clockwise yaw command and a counterclockwise yaw command, when the wind direction signal (3) is greater than a threshold value kappa 1 and delayed for sigma seconds, the clockwise yaw command is set to 1, and the clockwise yaw is started; after the wind direction signal (3) < threshold value-kappa 1 and the time delay sigma seconds, a counter-clockwise yaw command is set to 1, and counter-clockwise yaw is started; the values of κ1 and σ are set by the yaw control strategy, with κ1 being 15 °, and σ being 30 seconds.
(102) A yaw braking instruction (8) is sent simultaneously with the yaw instruction (7), the yaw braking instruction (8) simulates a braking mode, the embodiment simulates the braking mode to decompress and brake, and the hydraulic pressure is 8-10 bar;
(103) The yaw executing mechanism model carries out yaw control simulation according to a yaw command (7) and a yaw brake command (8) which are given by the main control system, and returns a yaw sensor signal (4), a yaw feedback signal (5) and a cable twisting limit signal (6).
(104) The yaw actuator model comprises yaw sensors, the yaw sensors comprise a first yaw sensor and a second yaw sensor, signals sent by the first yaw sensor and the second yaw sensor form a yaw sensor signal (4), and the yaw sensor signal (4) comprises four states of 00, 01, 11 and 10; the switching sequence is used for indicating the yaw system model to rotate clockwise or anticlockwise, and the switching time interval is limited by the yaw speed;
(105) The yaw feedback signal (5) comprises a clockwise yaw feedback signal and a counter-clockwise yaw feedback signal; if the clockwise yaw command is 1, the clockwise yaw feedback signal is set to 1, and if the anticlockwise yaw command is 1, the anticlockwise yaw feedback signal is set to 1; if the clockwise yaw command or the anticlockwise yaw command is from 1 to 0, the corresponding yaw feedback signal (5) is set to 0. If the clockwise yaw command or the anticlockwise yaw command is from 0 to 1, the corresponding yaw feedback signal is set to 1.
The yaw feedback signal (5) is sent to the main control system, the main control system judges whether the action state of the yaw system model is correct or not according to the yaw sensor signal (4) and the yaw feedback signal (5) by comparing the yaw instruction (7), if not, the fault is reported and sent to the SCADA system for display, if so, the cable twisting angle is calculated according to the yaw sensor signal (4), and the cable twisting limit signal (6) is combined, so that the yaw stopping instruction is given, and cable untwisting is carried out after shutdown.
(106) The cable twisting limit signal (6) comprises a clockwise cable twisting limit signal and a counterclockwise cable twisting limit signal; if the clockwise cable twisting angle is larger than lambda degrees, the clockwise cable twisting limit signal is set to 1, and the signal is output to the main control system; if the anticlockwise cable twisting angle is < -lambda degrees, the anticlockwise cable twisting limit signal is set to be 1, and the anticlockwise cable twisting limit signal is output to the main control system; the value of lambda is set according to a yaw control strategy;
if the clockwise cable twisting limit signal is 1, the main control system sends out a clockwise yaw instruction; if the anticlockwise cable twisting limit signal is 1, the main control system sends an anticlockwise yaw instruction; a zero-pressure braking mode is selected, namely the hydraulic pressure is 0 until the torsion angle is reduced to 0;
(107) If the clockwise yaw command is 1, stopping the clockwise yaw when the wind direction signal (3) < the threshold value kappa 2 and the clockwise yaw command is set to 0; if the anticlockwise yaw command is 1, when the wind direction signal (3) > threshold value-kappa 2 anticlockwise yaw command is set to 0, stopping anticlockwise yaw; the yaw braking instruction (8) does not need yaw action, performs full-pressure braking, locks the yaw system and takes hydraulic pressure of 150-200 bar. The value of κ2 is set by the yaw control strategy, taking κ2 to be 3 °.
The SCADA system monitors the wind direction signal (3) and the yaw feedback signal (5) to select a yaw mode, wherein the yaw mode comprises an automatic yaw mode (9) or a manual yaw mode (d), and the automatic yaw mode (9) or the manual yaw mode (d) is a control mode of the main control system on the yaw system model. Under the condition of no fault, the wind turbine generator system selects an automatic yaw mode (9), and the main control system performs yaw according to the wind direction signal (3) and a yaw control strategy; and under the shutdown condition, selecting a manual yaw mode, performing clockwise yaw or anticlockwise yaw by manual operation, and switching back to an automatic yaw mode after the corresponding yaw operation is completed.
The yaw braking instruction simulates a braking mode, and the braking mode comprises zero-pressure braking, pressure-reducing braking and full-pressure braking. When the yaw cable is disconnected by adopting zero-pressure braking, the hydraulic pressure is 0; braking in a decompression braking mode in the normal yaw process, wherein the hydraulic pressure is 8-10 bar; the yaw system is locked without full-pressure braking, and the hydraulic pressure is 150-200 bar. Referring to table 1, table 1 shows a braking mode.
Table 1 braking mode
| Braking mode | Pressure value bar | Status (Condition) |
| Zero pressure brake | 0 | Untwisting cable |
| Pressure-reducing brake | 8～10 | Yaw clockwise or anticlockwise |
| Full-pressure brake | 150～200 | Yaw system without yaw and locking |
The yaw sensor signals include signal states, switching sequences, time intervals.
The signal state is composed of a first DI signal and a second DI signal, the yaw sensor comprises a first yaw sensor and a second yaw sensor, the first yaw sensor outputs the first DI signal, the second yaw sensor outputs the second DI signal, the first DI signal and the second DI signal comprise 0 or 1 states, the combination of the first DI signal and the second DI signal outputs the yaw sensor signal, and the yaw sensor signal comprises 00, 01, 11 and 10 states.
The switching sequence is used for indicating to send a clockwise yaw instruction or a counterclockwise yaw instruction, and the state change sequence of the first yaw sensor and the state change sequence of the second yaw sensor corresponding to the clockwise yaw instruction or the counterclockwise yaw instruction are opposite. The "instruction" corresponds to the "sequence", and ensures that the simulation system is consistent with the master control system, where 00→01→11→10→00 represents clockwise, and 10→11→01→00→10 represents counterclockwise.
Time interval: the yaw sensor signals are adjacent to each other in a state transition time interval tau, tau=360° upsilon/(omega 4), wherein upsilon is the yaw rate, omega is the number of teeth yawing, and upsilon and omega are reference unit design values.
Calculating a cable twist angle from a yaw sensor signal (4) to introduce an intermediate variableThe value is an integer>The number of encoder state changes indicating a clockwise/counterclockwise change, plus 1 represents a clockwise change, minus 1 represents a counterclockwise change; when the torsion cable angle is 0, the cable is added with->When the clockwise yaw command is 1 and the corresponding sequence of signal states of the yaw sensor signals is changed once,/for>An increase of 1; when the counter-clockwise yaw command is 1 and the corresponding sequence of signal states of the yaw sensor signals is changed once,/and>1 reduction; then the cable twisting angle +.>Wherein ω yaw number of teeth.
And a yaw system model is built in the simulation system to replace a Bladed simplified yaw model, meanwhile, the coupling relation between power and relative wind direction is ensured, the wind direction model superimposes the influence of 3D turbulent wind into the wind direction to be given to the main control system through data interaction with a Bladed stroke model, the consistency of the Bladed model relative wind direction and the wind vane wind direction received by the main control system is ensured, and the perfect coupling of the power and the wind direction is realized. Therefore, the yaw system model not only can operate in a fan stop state, but also can perfectly simulate the characteristics of the wind turbine generator set when the wind turbine generator set is in grid-connected operation.
The yaw system model replaces a simplified yaw model in the blade, namely the relative wind direction in the simulation system is given to the blade fan model through wind direction increment, the cabin direction in the blade is set to be always opposite to the initial direction, the yaw system with the initial direction being the direction, namely the blade, does not participate in control, and the relative wind direction is changed, so that the change of the cabin direction of the blade is equivalent through the change of the wind direction, the cabin direction of the blade is unchanged, the yaw error is output to the simulation system, the cabin direction change is realized in the simulation system, and the yaw system model required by the main control system is realized in the simulation system.
Thus far, the technical solution of the present application has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present application is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present application, and such modifications and substitutions will fall within the scope of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules or units or groups of devices in the examples disclosed herein may be arranged in a device as described in this embodiment, or alternatively may be located in one or more devices different from the devices in this example. The modules in the foregoing examples may be combined into one module or may be further divided into a plurality of sub-modules.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or groups of embodiments may be combined into one module or unit or group, and furthermore they may be divided into a plurality of sub-modules or sub-units or groups. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Furthermore, some of the embodiments are described herein as methods or combinations of method elements that may be implemented by a processor of a computer system or by other means of performing the functions. Thus, a processor with the necessary instructions for implementing the described method or method element forms a means for implementing the method or method element. Furthermore, the elements of the apparatus embodiments described herein are examples of the following apparatus: the apparatus is for carrying out the functions performed by the elements for carrying out the objects of the application.
The various techniques described herein may be implemented in connection with hardware or software or, alternatively, with a combination of both. Thus, the methods and apparatus of the present application, or certain aspects or portions of the methods and apparatus of the present application, may take the form of program code (i.e., instructions) embodied in tangible media, such as floppy diskettes, CD-ROMs, hard drives, or any other machine-readable storage medium, wherein, when the program is loaded into and executed by a machine, such as a computer, the machine becomes an apparatus for practicing the application.
In the case of program code execution on programmable computers, the computing device will generally include a processor, a storage medium readable by the processor (including volatile and non-volatile memory and/or storage elements), at least one input device, and at least one output device. Wherein the memory is configured to store program code; the processor is configured to perform the method of the application in accordance with instructions in said program code stored in the memory.
By way of example, and not limitation, computer readable media comprise computer storage media and communication media. Computer-readable media include computer storage media and communication media. Computer storage media stores information such as computer readable instructions, data structures, program modules, or other data. Communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. Combinations of any of the above are also included within the scope of computer readable media.
As used herein, unless otherwise specified the use of the ordinal terms "first," "second," "third," etc., to describe a general object merely denote different instances of like objects, and are not intended to imply that the objects so described must have a given order, either temporally, spatially, in ranking, or in any other manner.
While the application has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of the above description, will appreciate that other embodiments are contemplated within the scope of the application as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The disclosure of the present application is intended to be illustrative, but not limiting, of the scope of the application, which is defined by the appended claims.
Claims (10)
1. A wind turbine generator system hardware-in-loop real-time simulation test system based on Bladed is characterized by comprising a server, a simulation system and a main control system;
the server comprises a Bladed model and a SCADA system, wherein the Bladed model comprises a wind model and a yaw model, and the SCADA system is used for displaying wind direction and yaw state and providing automatic/manual yaw mode selection for operators;
the simulation system builds a yaw system model, wherein the yaw system model comprises a wind direction model and a yaw executing mechanism model, and the yaw system model provides a wind direction signal, a yaw sensor signal, a yaw feedback signal and a cable twisting limit signal for the main control system;
the main control system comprises a wind direction acquisition module, a yaw control strategy module and an automatic/manual mode selection module, wherein the wind direction acquisition module acquires data of the simulation system, the yaw control strategy module operates the yaw control strategy, and the main control system provides yaw instructions and yaw brake instructions for the simulation system according to wind direction signals and the yaw control strategy.
2. The Bladed-based wind turbine hardware-in-the-loop real-time simulation test system of claim 1, wherein,
the simulation system sends wind direction increment to a Bladed model, the Bladed model obtains yaw error through the wind direction increment, the Bladed model sends the yaw error to the simulation system, a yaw system model is built in the simulation system, the yaw system model comprises a wind direction model and a yaw executing mechanism model, the wind direction model sends wind direction signals to a main control system, the main control system sends yaw instructions and yaw braking instructions according to collected wind direction signals and a yaw control strategy, the yaw executing mechanism model simulates according to the yaw instructions and the yaw braking instructions, the yaw executing mechanism model feeds back simulated yaw sensor signals, yaw feedback signals and torsion cable limit signals to the main control system, and the main control system compares the yaw instructions and the yaw braking instructions according to the yaw sensor signals and the yaw feedback signals to judge whether the action state of the yaw system model is correct or not; the main control system calculates a cable twisting angle according to the yaw sensor signals, and stops sending yaw instructions to the yaw system model by combining cable twisting limit signals, and cable untwisting is performed after the yaw system model is stopped to form a closed-loop control system.
3. The Bladed-based wind turbine hardware-in-the-loop real-time simulation test system according to claim 2, wherein the system is characterized in that:
the SCADA system monitors wind direction signals and yaw feedback signals, and operates an automatic/manual mode selection module to select an automatic yaw mode or a manual yaw mode to the master control system for yaw system model control; under the condition of no fault, the wind turbine generator selects an automatic yaw mode, and the main control system performs yaw according to wind direction signals and a yaw control strategy; in the shutdown condition, a manual yaw mode is selected, the manual operation is performed to yaw clockwise or anticlockwise, and the automatic yaw mode is switched back after the manual operation is completed.
4. The Bladed-based wind turbine hardware-in-the-loop real-time simulation test system according to claim 2, wherein the system is characterized in that:
the yaw error calculation process includes the steps of:
running a Bladed model to start simulation, and controlling a wind motor to start, wait for wind, idle and grid connection;
the simulation system is provided with an absolute wind direction which is manually given in the simulation system and is input for the action of the whole yaw system, wherein the absolute wind direction is set to be 0, and the absolute wind direction is set to be positive clockwise and negative anticlockwise; cabin azimuth in the simulation system, cabin azimuth = cable torsion angle, positive north direction is set to be 0, clockwise is positive, and anticlockwise is negative; wind direction increment = relative wind direction = absolute wind direction-nacelle orientation;
the simulation system inputs the wind direction increment into the Bladed model, the wind model outputs the original wind direction, the wind direction increment and the original wind direction are added to obtain a new wind direction A, the yaw model in the Bladed model is controlled to always keep the cabin orientation to be the north direction, the cabin orientation is 0, and then the yaw error = the new wind direction A-the cabin orientation = the new wind direction A-0 = the new wind direction A, and the yaw error = the new wind direction A.
5. The Bladed-based wind turbine hardware-in-the-loop real-time simulation test system of claim 1, wherein the Bladed-based wind turbine hardware-in-loop real-time simulation test system comprises a plurality of blades,
the yaw control strategy specifically comprises the following steps:
(101) The main control system sends a yaw command according to a wind direction signal, wherein the yaw command comprises a clockwise yaw command and a counterclockwise yaw command, when the wind direction signal is greater than a threshold value kappa 1 and delayed for sigma seconds, the clockwise yaw command is set to 1, and the clockwise yaw is started; after the wind direction signal is less than the threshold value-kappa 1 and delayed for sigma seconds, a counter-clockwise yaw command is set to 1, and counter-clockwise yaw is started;
(102) Simultaneously sending a yaw braking instruction with the yaw instruction, wherein the yaw braking instruction simulates a braking mode;
(103) The yaw executing mechanism model carries out yaw control simulation according to a yaw command and a yaw brake command (8) given by the main control system, and returns a yaw sensor signal, a yaw feedback signal and a cable twisting limit signal;
(104) The yaw actuator model comprises yaw sensors, the yaw sensors comprise a first yaw sensor and a second yaw sensor, signals sent by the first yaw sensor and the second yaw sensor form yaw sensor signals, the switching sequence of the states of the yaw sensor signals is used for indicating the yaw system model to rotate clockwise or anticlockwise, and the switching time interval is limited by the yaw speed;
(105) The yaw feedback signals include a clockwise yaw feedback signal and a counter-clockwise yaw feedback signal; if the clockwise yaw command is 1, the clockwise yaw feedback signal is set to 1, and if the anticlockwise yaw command is 1, the anticlockwise yaw feedback signal is set to 1; if the clockwise yaw command or the anticlockwise yaw command is from 1 to 0, setting the corresponding yaw feedback signal to 0; if the clockwise yaw command or the anticlockwise yaw command is from 0 to 1, setting a corresponding yaw feedback signal to 1;
the yaw feedback signal is sent to the main control system, the main control system judges whether the action state of the yaw system model is correct or not according to the yaw sensor signal and the yaw feedback signal, if not, the main control system reports the fault and sends the fault to the SCADA system for display, and if so, the cable twisting angle is calculated according to the yaw sensor signal (4);
(106) The cable twisting limit signals comprise a clockwise cable twisting limit signal and a counterclockwise cable twisting limit signal; if the clockwise cable twisting angle is larger than lambda degrees, the clockwise cable twisting limit signal is set to 1, and the signal is output to the main control system; if the anticlockwise cable twisting angle is < -lambda degrees, the anticlockwise cable twisting limit signal is set to be 1, and the anticlockwise cable twisting limit signal is output to the main control system; the value of lambda is set according to a yaw control strategy;
if the clockwise cable twisting limit signal is 1, the main control system sends out a clockwise yaw instruction; if the anticlockwise cable twisting limit signal is 1, the main control system sends an anticlockwise yaw instruction; selecting a zero-pressure braking mode, wherein the hydraulic pressure is 0;
(107) If the clockwise yaw command is 1, when the wind direction signal is less than the threshold value kappa 2, the clockwise yaw command is set to 0, and the clockwise yaw is stopped; if the counter-clockwise yaw command is 1, then when the wind direction signal (3) > threshold- κ2 counter-clockwise yaw command is set to 0, the counter-clockwise yaw is stopped.
6. The Bladed-based wind turbine hardware-in-the-loop real-time simulation test system of claim 5, wherein,
the values of κ1, κ2, σ are set by the yaw control strategy, κ1 being 15 °, σ being 30 seconds, κ2 being 3 °.
7. The Bladed-based wind turbine hardware-in-the-loop real-time simulation test system of claim 5, wherein,
the yaw braking instruction simulates a braking mode which comprises zero-pressure braking, pressure-reducing braking and full-pressure braking;
when the yaw cable is disconnected by adopting zero-pressure braking, the hydraulic pressure is 0; braking in a decompression braking mode in the normal yaw process, wherein the hydraulic pressure is 8-10 bar; the yaw system is locked without full-pressure braking, and the hydraulic pressure is 150-200 bar.
8. The Bladed-based wind turbine hardware-in-the-loop real-time simulation test system of claim 5, wherein,
the yaw sensor signal comprises a signal state, a switching sequence and a time interval;
the signal state is composed of a first DI signal and a second DI signal, the first yaw sensor outputs the first DI signal, the second yaw sensor outputs the second DI signal, the first DI signal and the second DI signal both comprise 0 or 1 states, the combination of the first DI signal and the second DI signal outputs the yaw sensor signal, and the yaw sensor signal comprises four states of 00, 01, 11 and 10.
9. The Bladed-based wind turbine hardware-in-the-loop real-time simulation test system of claim 8, wherein,
the switching sequence is used for indicating to send a clockwise yaw instruction or a counterclockwise yaw instruction, and the state change sequence of the first yaw sensor and the state change sequence of the second yaw sensor corresponding to the clockwise yaw instruction or the counterclockwise yaw instruction are opposite;
the time interval refers to a yaw sensor signal adjacent state transition time interval τ, τ=360° v/(ω 4), where v is the yaw rate and ω is the number of teeth.
10. The system and the method for in-loop real-time simulation testing of wind turbine hardware based on blade according to claim 9 are characterized in that,
calculating a cable twist angle from yaw sensor signals to introduce an intermediate variable The value is an integer>The number of encoder state changes indicating a clockwise/counterclockwise change, plus 1 represents a clockwise change, minus 1 represents a counterclockwise change; when the torsion cable angle is 0, the cable is added with->When the clockwise yaw command is 1 and the corresponding sequence of signal states of the yaw sensor signals is changed once,/for>An increase of 1; when the counter-clockwise yaw command is 1 and the corresponding sequence of signal states of the yaw sensor signals is changed once,/and>1 reduction; then the cable twisting angle +.>
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