KR100930956B1 - Real time simulator of wind power system - Google Patents

Abstract

The present invention relates to a real-time simulator of a wind power generation system, and in particular, by using a commercial motor drive system and a real-time simulation device to simulate the real-time operation of any wind power generation system under any wind speed conditions, Compared to this, the construction cost and time of the system can be drastically reduced, and the present invention relates to a real-time simulator of a wind power generation system that can simulate any wind power generation system in real time under arbitrary operating conditions.

The constituent means of the real-time simulator of the wind power generation system of the present invention comprises a computer-based commercial wind turbine simulator implemented in a commercial real-time simulation system and a rotation speed simulated by the wind turbine simulator as a control input. Characterized in that it consists of a commercial motor drive system to implement a mechanical driving force.

Wind power, simulator

Description

Real time simulator of wind force system

1 is a block diagram of a general wind power generation system.

2 is a block diagram of a conventional wind power system simulator.

3 is a configuration diagram of a simulator of a wind power generation system according to an exemplary embodiment of the present invention.

4 is a wind turbine simulator control block diagram of a wind power system simulator according to an embodiment of the present invention.

5 is a system configuration diagram for the grid connection test of the power converter for a wind generator according to an embodiment of the present invention.
6 is a graph of a conventional wind speed model.
7 is an example of the output coefficient-TSR curve when C1 = 2 and C2 = 15 in the conventional wind turbine model.

Explanation of symbols on the main parts of the drawings

310: wind turbine simulator 311: wind speed model provider

312: wind turbine model providing unit 313: torque controller

314 speed controller 320 motor drive system

321: power converter 322: electric motor

323: motor controller 330: wind power generator

340: power converter 350: grid junction transformer

360: power distribution system

The present invention relates to a real-time simulator of a wind power generation system, and in particular, by using a commercial motor drive system and a real-time simulation device to simulate the real-time operation of any wind power generation system under any wind speed conditions, Compared to this, the construction cost and time of the system can be drastically reduced, and the present invention relates to a real-time simulator of a wind power generation system that can simulate any wind power generation system in real time under arbitrary operating conditions.

Wind power generation system can reduce power quality such as voltage and frequency of surrounding system customers and load due to the irregularity of output due to the variation of wind speed, which is the energy source. As the system is changed to mixed loads, it is difficult to accurately detect and block accidents with the existing protection coordination system.

Therefore, before linking the actual wind power generation system to the grid, it is necessary to examine the impact on the electrical quality and protection system of the surrounding system due to the transient and steady state of the wind power generation system.

However, since the state of the system is determined by the time-varying nature such as wind speed and strong nonlinearity, it is impossible to predict and reproduce the state of the system for the experiment. Therefore, an experimental apparatus capable of reproducing specific operating conditions is essential.

As a method of implementing a specific operating condition, there may be a method of reproducing a physical phenomenon such as a wind tunnel test apparatus, and a method of using a simulation apparatus using appropriate computer simulation and hardware simultaneously.

The method of using the former wind tunnel test system is expensive and requires a lot of time and effort because the system needs to be replaced when the experiment setup or the subject is changed, and there are many restrictions on the size and capacity of the target system. .

In addition, the current method using the latter simulation apparatus uses a DC motor, an induction generator or a synchronous generator, and uses a method of implementing the torque applied by the wind turbine to the generator by using the current control of the DC motor.

This is also mostly lab-level, where the reliability of real-time simulations has not been fully validated, and the use of the system is limited because changes in turbine models or major parameters can only be made by the developer.

1 is a block diagram of a general wind power generation system. As shown in FIG. 1, the general wind power generation system may increase the rotation speed of the rotary blade 111 and the rotary blade 111 to generate rotational force from the wind at a rotational speed suitable for power generation of the generator 120. It consists of a wind turbine 110 is composed of a speed increaser 112 and a wind generator 120 for converting the rotational force generated in the wind turbine 110 into electrical energy and the AC power generated according to the type of generator It is composed of a power converter 130 for converting into AC power suitable for a commercial system is configured to supply the power generated in connection with the power distribution system 150 through the transformer 140 of the grid connection point to the system. .

2 is a block diagram of a simulator of a conventional wind power generation system. In the structure of the wind power generation system described with reference to FIG. 1, the wind turbine system 210 driving the wind generator 220 by converting kinetic energy of wind into mechanical energy is a device for generating a mechanical driving force in the wind generator 220. It can be replaced.

Conventional wind power generation system simulator is a wind speed model providing unit 211, wind turbine model providing unit 212, torque controller 213, DC motor 215 and the like to simulate the wind turbine system 110 of FIG. Implementing the wind turbine simulator 210 is composed of a drive system 214 and connects the DC motor 215 and the wind generator 220 is composed of a system for driving the DC motor 215 to drive the wind generator 220. .

Like a general wind generator system, a structure for supplying the generated power to the distribution system 250 through the transformer 240 of the grid connection point using the appropriate power converter system 230 according to the type of the wind generator 220. It is.

The conventional wind turbine simulator 210 mathematically derives the wind speed model of the wind speed model providing unit 211 and the wind turbine model of the wind turbine model providing unit 212 and has been developed to control the wind turbine simulator 210. It is implemented in the form that the developer directly implements code in the controller hardware.

Therefore, the parameter or configuration of the wind turbine model provided by the wind turbine model providing unit 212 can be changed only by the developer or the person who is familiar with the developed controller system and can access the system. There are many disadvantages to this.

In addition, there is a disadvantage that the reliability and stability of the real-time simulation performance of the wind turbine model modeled and implemented by the developer has not been sufficiently verified. Since the development of the torque controller 213 and the DC motor drive system 215 is performed directly in the laboratory, it takes a lot of time to develop for this, and therefore requires a large development cost.

In addition to the problems related to the simulator of the conventional wind power generation system as described above, since the state of the system is determined by the natural environment with high time variability and nonlinearity such as wind speed, the state prediction and reproduction of the state of the system for the experiment Since this is impossible, an experimental device capable of reproducing specific operating conditions is essential.

There are methods to reproduce physical phenomena like wind tunnel tester as a way to implement specific operating conditions, but this depends on the capacity and size of the system, but it requires a lot of cost to build the facility and it takes a lot of time and effort to conduct the experiment. There are drawbacks to investing.

Existing wind power system simulators use wind turbine models and simulators built by developers. Since the wind power system simulator reported to date has been developed at the laboratory level, the reliability of the real-time simulation performance of the wind turbine model has not been verified, and the change of the turbine model or the major parameters can only be made by the developer. There is a problem of limited use.

Existing wind power system simulator uses DC motor to realize output torque of wind turbine, and it takes a lot of time to develop because driving system for driving it is manufactured at laboratory level. There is a disadvantage.

The present invention was devised to solve the problems of the prior art as described above, and obtains the same effect as the wind tunnel test apparatus while real-time simulator of the wind power generation system that can drastically reduce the cost and time required for the construction and testing of the facility Its purpose is to provide.

In addition, by allowing any wind power system to be simulated in real time under any system operating conditions, it is possible to reliably reproduce the same effects as the actual operating conditions in real time, so that the static and dynamic characteristics of the wind power system can be identified and linked to the grid. The object of the present invention is to provide a real-time simulator of the wind power generation system that can examine the problems that may occur during operation.

In addition, it is possible to secure the reliability of the real-time simulation results through many of the results presented previously using the commercial real-time simulator system, and various wind turbine models can be used because the commercial equipment is used, and it is easy to change them for ease of use. The purpose is to provide a real-time simulator of the wind power generation system that can be improved.

In addition, by using a commercial motor drive system and using the speed control command, providing a real-time simulator of the wind power generation system that can reduce the cost and time spent on developing the motor drive system without being limited by the type of the motor. The purpose.

The construction means constituting the real-time simulator of the wind power generation system of the present invention proposed to solve the above technical problem is a computer-based commercial wind turbine simulator implemented in a commercial real-time simulation system, and simulated in the wind turbine simulator It is characterized by consisting of a commercial electric motor drive system that implements the mechanical drive force of the wind generator by using the rotation speed as a control input.

The wind turbine simulator may include a wind speed model providing unit, a wind turbine model providing unit, a torque controller, and a speed controller.

In addition, the wind turbine simulator simulates the mechanical rotational force generated in the rotor blades of the wind turbine by inputting the wind speed generated by the wind speed model provided by the wind speed model providing unit and the current rotation speed of the wind turbine, After simulating the acceleration of the wind generator by inputting the difference between the mechanical rotational force generated from the rotor blades and the electrical rotation force output from the wind generator, the starting speed of the wind generator is input using the simulated acceleration through the speed controller. And in real time to simulate the rotational speed of the wind generator in the range of the stationary speed and outputs the control speed of the commercial motor drive system.

The commercial motor drive system may include an electric motor for transmitting power to the wind turbine, a power converter for supplying electric power to the electric motor, and an electric motor controller for controlling the speed of the electric motor by controlling the electric power converter. It features.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the real-time simulator of the present invention wind power generation system consisting of the above configuration means.

3 is a block diagram of a wind power generation system simulator according to the present invention.

As shown in FIG. 3, the simulator of the wind power generation system according to the present invention outputs the outputs simulated by the wind turbine simulator 310 and the wind turbine simulator 310 implemented in a commercial real-time simulation system. It is composed of a commercial motor drive system 320 to implement a mechanical driving force.

여기서,

= 기본 성분 [m/s],

= gust 성분 [m/s],

= ramp 성분 [m/s],

= noise 성분 [m/s] 이다.
기본성분(V_BASE)은 풍력시스템이 운전 중일 때 항시 존재하는 것으로 가정하는 일정 풍속을 의미하는 것으로서, 다음과 같이 상수로 나타낸다.

Gust 성분(V_GUST)은 일반적으로 SINE 이나 COSINE의 삼각함수의 형태로 나타낼 수 있는데, 본 모델링 작업에서는 임의 수의 COSINE 함수를 합성하여 표현하였으며, 이를 다음과 같이 나타낼 수 있다.

여기서, N = 각 gust 유형의 총 수, i = i 번째 gust, K_MAXG,i = i 번째 gust의 첨두치 [m/s], Ti = i 번째 gust의 주기 [s], T_shf,i = i 번째 gust의 시간편차, T_1G = gust 시작시간, T_2G = gust 종료시간 이다.
ramp 성분(V_RAMP)은 다음과 같이 나타낼 수 있다.

여기서, K_MAXR = ramp의 최대값 [m/s], T_1R = ramp 적용 시작 시간 [m/s], T_2R = ramp 적용 종료시간 [m/s] 이다.
Noise 성분(V_NOISE)은 일반적인 잡음성분이다.
이러한 4가지 성분의 관계식을 이용하여 풍속모델을 구성하며, 실제의 풍속과 유사하도록 위의 4가지 성분을 적절하게 합성한 예는 도 6과 같다. 도 6은 종래 풍속모델의 그래프이다.
또한 종래의 풍력터빈모델에서 풍력터빈은 풍속에 대한 토크의 입출력 관계식으로 표현할 수 있으며, 이는 다음의 수학식과 같다.

여기서, λ = tip speed ratio (TSR), ω_M = 블레이드의 각 속도 [rad/s], R = 블레이드 반지름 [m], V_WIND = 풍속 [m/s], P_M = 기계적인 출력 [kW], ρ = 대기밀도 [kg/m3], C_P = 출력계수, T_M = 기계적인 토크 [N·m] 이다.
위의 수학식에서 얻은 토크는 동기발전기의 입력토크로 들어가서 발전기를 구동하게 된다. 위의 수학식들에서도 알 수 있듯이, 특정 풍속에서의 풍력터빈의 출력은 출력계수에 전적으로 의존한다. 출력계수는 일반적으로 풍력터빈의 출력성능시험에 의해 얻은 실측 데이터를 수식화 하여 얻을 수 있으며, 출력계수의 한 예는 다음의 수학식과 같다.

여기서, C1과 C2는 풍력터빈에 따른 계수를 나타낸다. β는 블레이드 피치각이다. 도 7은 종래의 풍력터빈모델에서 C1=2, C2=15인 경우의 출력계수-TSR 곡선의 한 예이다.
또한 종래의 토크제어기는 도 4에 표현되어 있는 바와 같이 풍속정보(411)로부터 발전기에 입력되는 기계적인 회전력(421)을 모의하는 블레이드모델(B(s), 410)에서 만들어진 기계적인 회전력(421)을 구현하기 위한 제어알고리즘으로 시뮬레이터에서는 모터에 입력되는 전류를 제어하는 알고리즘이다.
또한 속도제어기는 풍력발전시스템의 회전속도를 제어하는 알고리즘으로 토크제어기에서 만들어진 회전력(421)과 발전기의 출력(422)로부터 만들어진 정보로부터 시스템의 동톡성모형(420)에 의하여 결정되는 발전기의 회전속도를 제어하는 알고리즘이다.Wind turbine simulator 310 implemented in a commercial real-time simulation system is composed of a wind speed model providing unit 311, a wind turbine model providing unit 312, a torque controller 313, a speed controller 314, real-time simulation system The rotational speed of the wind power generation system simulated in real time is used as a control input of the commercial motor drive system 320. Here, a known configuration of the wind speed model providing unit 311, the wind turbine model providing unit 312, the torque controller 313, and the speed controller 314 will be described below.
First, the conventional wind speed model is generally a four component model (Four component model) can be represented by the following equation.

here,

= Basic component [m / s],

= gust component [m / s],

= ramp component [m / s],

= noise component [m / s].
The basic component (V _BASE ) is a constant wind speed that is assumed to exist at all times when the wind system is in operation, and is expressed as a constant as follows.

The Gust component (V _GUST ) can be generally expressed in the form of a triangular function of SINE or COSINE. In this modeling work, an arbitrary number of COSINE functions are synthesized and expressed as follows.

Where N = total number of each gust type, i = i-th gust, K _{MAXG, i} = peak of i-gust gust [m / s], Ti = cycle of i-gust gust [s], T _{shf, i} = The time deviation of the i th gust, T _1G = gust start time, and T _2G = gust end time.
The ramp component (V _RAMP ) can be expressed as

Where K _MAXR = maximum ramp value [m / s], T _1R = ramp application start time [m / s], and T _2R = ramp application end time [m / s].
Noise component (V _noise ) is a general noise component.
A wind speed model is constructed using the relational expression of the four components, and an example of properly synthesizing the above four components to be similar to the actual wind speed is shown in FIG. 6. 6 is a graph of a conventional wind speed model.
In addition, in the conventional wind turbine model, the wind turbine can be expressed as an input-output relationship of torque for wind speed, which is expressed as the following equation.

Where λ = tip speed ratio (TSR), ω _M = angular speed of the blade [rad / s], R = blade radius [m], V _WIND = wind speed [m / s], P _M = mechanical output [kW ], ρ = atmospheric density [kg / m3], C _P = power factor, T _M = mechanical torque [N · m].
The torque obtained from the above equation enters the input torque of the synchronous generator to drive the generator. As can be seen from the above equations, the output of a wind turbine at a certain wind speed depends entirely on the output coefficient. In general, the output coefficient can be obtained by formulating the measured data obtained by the output performance test of the wind turbine. An example of the output coefficient is shown in the following equation.

Here, C1 and C2 represent coefficients according to the wind turbine. β is the blade pitch angle. 7 is an example of the output coefficient-TSR curve when C1 = 2 and C2 = 15 in the conventional wind turbine model.
In addition, the conventional torque controller has a mechanical rotational force 421 made in the blade model (B (s), 410) to simulate the mechanical rotational force 421 input to the generator from the wind speed information 411 as shown in FIG. ) Is a control algorithm for realizing the current.
In addition, the speed controller is an algorithm for controlling the rotational speed of the wind power generation system, and the rotational speed of the generator determined by the dynamic torque model 420 of the system from the information generated from the rotational force 421 produced by the torque controller and the output 422 of the generator. Algorithm to control.

According to the real-time speed control command, the motor controller 323 controls the speed of the AC motor 322 using the power converter 321 of the motor drive system 320 and thus the wind generator connected to the AC motor 322. 330 is controlled to the rotational speed of the wind generator simulated in real time.

According to the rotational speed of the wind generator 330, the power converter 340 associated with the wind generator 330 controls the output and the controlled output flows into the power distribution system 360 through the associated transformer 350.

The real-time simulation simulator of the wind power generation system according to the present invention can use the computer-based commercial real-time simulator system and the electric motor drive system to achieve the same effect as the wind tunnel tester, while drastically reducing the cost and time required for the construction and testing of the facility. Provide a way.

In addition, since any wind power generation system is simulated in real time under any system operating conditions, it is possible to reliably reproduce the same effect as the actual operating situation in real time, so that the static and dynamic characteristics of the wind power generation system can be generated when operating the grid. It is a useful tool for examining possible problems.

Since the simulator of the wind power generation system according to the present invention uses a commercial real-time simulator system, it is possible to secure the reliability of the real-time simulation results through a number of previously presented results, and various wind turbine models can be used by using commercial equipment. Easy to change has the advantage of improving the convenience of use.

In addition, since it uses a commercial motor drive system and uses the speed control command, it is not limited to the type of motor and can reduce the cost and time required to develop the motor drive system. There is an advantage that can improve the reliability and stability of the operation of the system.

Figure 4 shows a wind turbine simulator control block diagram of a wind power system simulator according to the present invention.

Wind turbine simulator 310 according to the present invention is implemented in a commercial real-time simulation system is composed of wind speed model providing unit 11, wind turbine model providing unit 312, torque controller 313, speed controller 314 The wind generator rotation speed is used as a control input of the commercial motor drive system 320 to control the rotation speed Wref 433 and the output of the wind generator 330.

In order to perform such a control function, as shown in FIG. 4, a control algorithm implemented in a commercial real-time simulation system is shown in a block diagram. The control block diagram of the wind turbine simulator 310 is a wind speed model 311 that simulates an arbitrary wind speed in real time, a rotor blade model B (s) 410 that simulates the wind energy conversion characteristics of a rotor blade of a wind turbine, and a rotation. Turbine model J (s) 420, which simulates the dynamic response of the blades and various machinery, and a speed controller 430 for converting the output of the turbine model to the rotational speed of the wind generator.

The rotary vane model B (s) 410 is a mechanical output generated from the rotary vanes of the wind turbine by inputting the wind speed Vwind 411 generated in the wind velocity model 311 and the rotational speed Wm 412 of the current wind turbine. The rotational force Tm 421 is simulated. Turbine model J (s) 420 receives the acceleration of the wind generator by inputting the difference ΔT 423 of the mechanical torque Tm 421 generated from the rotor blades and the electrical torque Te 422 output from the wind generator. DELTA W 431 is simulated.

The speed controller 430 is subject to a simulated acceleration △ W (431) as input, and outputs the real-time simulated by the rotational speed Wref (433) of a wind turbine in a start-up speed of the wind generator and stop speed range (432). The proposed control block can be easily configured and modified using a graphical user interface (GUI) of a commercial real-time simulator.

5 is a view showing an example of configuring a system by applying the present invention, the generator characteristic test of the wind power generator 520 or the power conversion device 530 and the wind power generation system developed, or test the linkage operation characteristics for grid linkage operation. System configuration diagram.

The configuration shown in Figure 5 is connected to the wind generator 520 developed in the electric motor of the wind power generation system simulator 510 composed of a commercial real-time simulator 511 and a commercial motor drive system 512 and the output of the wind generator 520 Installed a power converter system 530 consisting of a PWM converter 531 of a variable voltage variable frequency (VVVF) and a grid-connected inverter 532 in order to convert the power generated by the wind generator 520 into a linked transformer ( An example of an experimental system for outputting to the power distribution system 550 using 540.

Using the configuration shown in FIG. 5, the results of the power converter control characteristics such as the maximum power point tracking (MPPT) characteristic at a certain wind speed, the generator output at a specific wind speed, the power converter output, etc. It is possible to test the electrical characteristics of wind power generation system such as efficiency and harmonic characteristics.

As described above, the present invention can be applied to test the characteristics of the generator or the linkage operation for grid-connected operation of the developed wind power generator or power converter and the wind power generation system.

According to the real-time simulator of the wind power generation system of the present invention having the configuration and the preferred embodiment as described above, there is an advantage that can significantly reduce the cost and time required for the construction and testing of the facility while obtaining the same effect as the wind tunnel experimental apparatus.

In addition, since any wind power generation system is simulated in real time under an arbitrary system operating condition, there is an advantage in that the same effect as the actual driving situation can be reproduced with reliability in real time.

In addition, there is an advantage that can provide a useful means for identifying the static and dynamic characteristics of the wind power generation system and the problems that may occur during grid-linked operation.

In addition, since the real-time simulator system is used, it is possible to secure the reliability of the real-time simulation results through many of the results presented previously, and various wind turbine models can be used by using commercial equipment, and it is easy to change them. There is an advantage that can be improved.

In addition, since it uses a commercial motor drive system and uses the speed control command, it is not limited to the type of motor and can reduce the cost and time required to develop the motor drive system, and also uses a commercially proven drive system. There is an advantage that can improve the reliability and stability of the operation of the drive system.

Claims (4)

In the real-time simulator of the wind power system, Comprising a computer-based commercial wind turbine simulator implemented in a commercial real-time simulation system, and a commercial electric motor drive system that implements the mechanical driving force of the wind generator by using the rotation speed simulated in the wind turbine simulator as a control input, The wind turbine simulator includes a wind speed model providing unit, a wind turbine model providing unit, a torque controller, and a speed controller. delete The method according to claim 1, The wind turbine simulator simulates the mechanical rotational force generated in the rotor blades of the wind turbine by inputting the wind speed generated by the wind speed model provided by the wind speed model providing unit and the rotation speed of the current wind turbine, and the rotary blade After the acceleration of the wind generator is simulated by inputting the difference between the mechanical rotational force generated at and the electrical rotation force output from the wind generator, and the simulated acceleration is input through the speed controller to start the wind generator. The real-time simulator of the wind power generation system, characterized in that to simulate the rotational speed of the wind generator in the range of speed and stop speed in real time to the control speed of the commercial motor drive system. The method according to claim 3, The commercial motor drive system includes an electric motor for transmitting power to the wind generator, a power converter for supplying power to the electric motor, and an electric motor controller for controlling the speed of the electric motor by controlling the electric power converter. Real time simulator of a wind power system.

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