CN215633530U

CN215633530U - Simulation experiment device of wind generating set

Info

Publication number: CN215633530U
Application number: CN202122039869.5U
Authority: CN
Inventors: 郑松岳; 吴立建; 史婷娜; 宋鹏; 刘嘉明; 王思奇; 许移庆; 朱志权
Original assignee: Zhejiang University ZJU; Shanghai Electric Wind Power Group Co Ltd
Current assignee: Zhejiang University ZJU; Shanghai Electric Wind Power Group Co Ltd
Priority date: 2021-08-26
Filing date: 2021-08-26
Publication date: 2022-01-25
Anticipated expiration: 2031-08-26

Abstract

The utility model provides a simulation experiment device of a wind generating set, which comprises a simulator, a PLC (programmable logic controller) main controller, a pitch control executing mechanism, a yaw executing mechanism and a converter system, wherein the simulator is respectively in communication connection with the PLC main controller, the pitch control executing mechanism, the yaw executing mechanism and the converter system; the simulator simulates a mechanical model of the wind generating set; the PLC main controller controls the pitch control executing mechanism and the yaw executing mechanism to act respectively, and the simulator simulates control over the mechanical model according to the pitch angle determined by the output of the pitch control executing mechanism, the cabin yaw angle determined by the output of the yaw executing mechanism and the torque signal output by the converter system. The utility model can intuitively show the execution action of the process control wind generating set.

Description

Simulation experiment device of wind generating set

Technical Field

The utility model relates to the field of simulation equipment of wind generating sets, in particular to a simulation experiment device of a wind generating set.

Background

The semi-physical simulation platform of the wind generating set can integrate the operation condition setting and controller testing links of a large-scale set, shorten the development period and improve the development efficiency of the wind generating set. The semi-physical simulation platform mainly comprises a computer for operating a simulation system, a master controller for operating a master control system of the wind generating set and some expansion functions, and mainly comprises two parts: the method comprises the following steps that firstly, a hardware controller and a wind generating set model used for meeting calculation can calculate and respond to instructions between the controller and the wind generating set; and the other is used for establishing a data communication interface for correct connection of the external controller and feeding back simulation calculation results such as wind-wave-stream data, pitch angle, generator rotating speed, torque and other information to the external controller of the wind generating set.

The existing semi-physical simulation platform of the wind generating set still implements pitch control and yaw control in the blanked software, and lacks the hardware design of pitch drive and yaw drive, which has obvious difference with the control structure of the real wind generating set, and influences the authenticity and effectiveness of the process control verification of the wind generating set.

SUMMERY OF THE UTILITY MODEL

The utility model provides a simulation experiment device of a wind generating set.

Specifically, the utility model is realized by the following technical scheme:

the embodiment of the utility model provides a simulation experiment device of a wind generating set, which comprises a simulator, a PLC (programmable logic controller) master controller, a pitch control executing mechanism, a yaw executing mechanism and a converter system, wherein the simulator is respectively in communication connection with the PLC master controller, the pitch control executing mechanism, the yaw executing mechanism and the converter system;

wherein the simulator simulates a mechanical model of the wind generating set;

the PLC master controller controls the variable pitch executing mechanism and the yaw executing mechanism to act respectively, and the simulator simulates control over the mechanical model according to the pitch angle determined by the output of the variable pitch executing mechanism, the cabin yaw angle determined by the output of the yaw executing mechanism and the torque signal output by the converter system.

Optionally, the wind power generation system further comprises a laser radar and an air supply device, the air supply device generates wind, the laser radar is in communication connection with the PLC main controller, the laser radar detects environment wind information, and the PLC main controller controls the pitch-variable executing mechanism and the yaw executing mechanism to act respectively according to the environment wind information.

Optionally, the variable pitch executing mechanism includes a servo driver, a motor and a speed reducing mechanism, the servo driver is in communication connection with the PLC main controller, and the servo driver controls the motor to drive an output shaft gear of the speed reducing mechanism to rotate according to the wind speed information in the environmental wind information.

Optionally, the pitch actuator further includes a first sensor, which measures first rotation information of an output shaft gear of the reduction mechanism and transmits the first rotation information to the simulator.

Optionally, the first sensor comprises a speed sensor and/or an angle sensor.

Optionally, the yaw actuator comprises a stepper drive motor.

Optionally, the yaw actuating mechanism further comprises a second sensor for measuring second rotation information of the output shaft of the stepping driving motor and transmitting the second rotation information to the simulator.

Optionally, the second sensor comprises a speed sensor and/or an angle sensor.

Optionally, the converter system includes a communication circuit, a converter control circuit, a converter driving circuit, and an RT BOX platform, where the RT BOX platform simulates an IGBT module and a grid platform of a converter of the wind turbine generator system.

Optionally, the PLC master and the communication circuit communicate with each other through a Profibus DP communication interface, and the communication circuit and the converter control circuit communicate with each other through a CAN communication interface.

According to the technical scheme provided by the embodiment of the utility model, the pitch control executing mechanism and the yaw executing mechanism are arranged, so that the executing action of the process control wind generating set can be visually expressed, the logic of the PLC master controller for controlling the pitch control executing mechanism and the yaw executing mechanism is better adjusted, and how to optimize the pitch control executing mechanism and the yaw executing mechanism; meanwhile, ring simulation is realized through hardware such as a variable pitch executing mechanism and a yaw executing mechanism, the unique performance of the real-time combined simulation platform is fully displayed, and the method has important engineering application value for formulating and optimizing a unit control strategy, evaluating the structural design of a large part and analyzing fatigue based on an actual dynamic environment.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the utility model, as claimed.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a schematic structural diagram of a simulation experiment apparatus of a wind turbine generator system according to an exemplary embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a simulation experiment device of a wind turbine generator system according to another exemplary embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a simulation experiment device of a wind turbine generator system according to another exemplary embodiment of the present invention;

FIG. 4 is a schematic diagram of a portion of a current transformer system in accordance with an exemplary embodiment of the present invention;

fig. 5 is a schematic diagram of a converter control circuit according to an exemplary embodiment of the present invention.

Reference numerals:

1. a simulator; 2. a PLC master controller; 3. a variable pitch actuator; 31. a servo driver; 32. an electric motor; 33. a speed reduction mechanism; 4. a yaw actuating mechanism; 41. a step-by-step drive motor; 5. a laser radar; 6. a converter system; 61. a communication circuit; 62. a converter control circuit; 63. a converter drive circuit; 64. RT BOX platform.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the utility model, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

With the rapid development of wind generating sets, the components and various control subsystems thereof become more and more complex, thereby increasing the difficulty in design and debugging. Therefore, the requirement for the construction of the simulation platform of the high-power wind generating set is more and more strong, and the operation environment and the control system structure of the simulation platform are important challenges. The existing wind generating set operation simulation technology comprises two categories of software-in-loop simulation and semi-physical simulation, wherein the software-in-loop simulation and the semi-physical simulation can only verify the basic logic of a control algorithm, and the software-in-loop simulation and the semi-physical simulation mainly aim at the simulation of a main control algorithm level of the wind generating set and do not expand the simulation capability of the whole wind generating system including main control variable pitch control, yaw control and the like.

In contrast, the simulation experiment apparatus of the embodiment of the present invention, by setting the pitch actuator and the yaw actuator, can intuitively present the execution action of the process control wind turbine generator system, and better adjust the Logic of the PLC (Programmable Logic Controller) master Controller controlling the pitch actuator and the yaw actuator, and how to optimize the pitch actuator and the yaw actuator; meanwhile, ring simulation is realized through hardware such as a variable pitch executing mechanism and a yaw executing mechanism, the unique performance of the real-time combined simulation platform is fully displayed, and the method has important engineering application value for formulating and optimizing a unit control strategy, evaluating the structural design of a large part and analyzing fatigue based on an actual dynamic environment.

The simulation experiment device of the wind generating set of the utility model is explained in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

Referring to fig. 1, an embodiment of the present invention provides a simulation experiment device for a wind generating set, where the simulation experiment device may include a simulator 1, a PLC master controller 2, a pitch actuator 3, a yaw actuator 4, and a converter system 6, where the simulator 1 is in communication connection with the PLC master controller 2, the pitch actuator 3, the yaw actuator 4, and the converter system 6, respectively, and the PLC master controller 2 is in communication connection with the pitch actuator 3, the yaw actuator 4, and the converter system 6, respectively.

In an embodiment of the utility model, the simulator 1 simulates a mechanical model of a wind turbine, for example, the blades and the tower of the wind turbine are made up of flexible cantilevers with continuously and uniformly distributed mass and stiffness, and the tower is modeled as a main body and connected with a tower top unit at a yaw bearing at a nacelle position. A nacelle model is established based on the concentrated additional mass, the main shaft is connected with the center of gravity of the nacelle and the hub, and the blade model is connected with the hub. The mechanical model of the wind generating set can be solved to obtain the dynamic characteristics meeting the design and engineering use requirements. The simulator 1 may be a blanked simulator, or may be another type of simulator.

The PLC master controller 2 controls the pitch control executing mechanism 3 and the yaw executing mechanism 4 to act respectively, and the simulator 1 simulates control over a mechanical model according to a pitch angle determined by output of the pitch control executing mechanism 3, an engine room yaw angle determined by output of the yaw executing mechanism 4 and a torque signal output by the converter system 6.

It should be noted that, in the embodiment of the present invention, the simulator 1 simulates a mechanical model of the wind turbine generator system, the PLC master controller 2 controls the pitch actuator 3 and the yaw actuator 4 to respectively act, and the simulator simulates control of the mechanical model according to corresponding parameters, and the above processes may be implemented by using existing programs.

Referring to fig. 1 again, the simulation experiment apparatus according to the embodiment of the present invention may further include a laser radar 5 and an air supply device (not shown), where the air supply device generates air to simulate the simulation experiment apparatus in a wind environment where the real wind turbine generator system is located. Laser radar 5 and PLC master controller 2 communication connection, laser radar 5 detects environment wind information, and PLC master controller 2 is according to environment wind information, and the action is respectively moved to control change oar actuating mechanism 3 and driftage actuating mechanism 4. The laser radar can well perform experiments of algorithms such as wind speed feedforward, model prediction and the like, and is helpful for developing an actual control algorithm.

It should be noted that the environmental wind information is the environmental wind information of the current position of the simulation experiment apparatus, and may include information such as wind speed information and wind direction information. Optionally, in some embodiments, the ambient wind information comprises real-time wind speed and real-time wind direction; in still other embodiments, the ambient wind information includes a predicted wind speed and a predicted wind direction in addition to the real-time wind speed and the real-time wind direction. The real-time wind speed can be the average wind speed within a preset distance range (within 100 meters of the simulation experiment device on the spot like a wind farm) at the current position of the simulation experiment device, the real-time wind direction can be the wind direction within the preset distance range at the current position of the simulation experiment device, the predicted wind speed can be outside the preset distance at the current position of the simulation experiment device, the average wind speed in the region which can be detected by the laser radar 5 can be predicted, the predicted wind direction can be outside the preset distance at the current position of the simulation experiment device, and the wind direction in the region which can be detected by the laser radar 5 can be predicted.

The air supply device may be a fan, or other type of air supply device.

The variable-pitch actuating mechanism 3 is used for responding to the change of the wind speed, so that the pneumatic power capture and the structural load optimization of the wind generating set can be improved.

Referring to fig. 2, the pitch actuator 3 according to the embodiment of the present invention may include a servo driver 31, a motor 32, and a speed reduction mechanism 33, where the servo driver 31 is in communication connection with the PLC master 2, and the servo driver 31 controls the motor 32 to drive an output shaft gear of the speed reduction mechanism 33 to rotate according to the wind speed information in the environmental wind information, so as to drive blades in the mechanical model in a simulation manner through the simulator 1. Specifically, the PLC master 2 issues a pitch control command to the servo driver 31 according to the wind speed information, and after the pitch control command is processed (such as signal amplification and data format conversion) by the servo driver 31, the motor 32 is controlled to drive the output shaft gear of the speed reduction mechanism 33 to rotate.

Further, the pitch actuator 3 may further include a first sensor, and the first sensor measures first rotation information of the output shaft gear of the speed reducer 33 and transmits the first rotation information to the simulator 1, so as to achieve automatic pitch control. In the present embodiment, the pitch angle is determined based on the first rotation information.

The first sensor may include a speed sensor and/or an angle sensor, and the present embodiment does not specifically limit the types of the speed sensor and the angle sensor.

The motor 32 may be a servo motor, but is not limited thereto.

The pitch control process may include: the PLC main controller 2 calculates an angular displacement value to be output in the next control period according to an angular acceleration set value and an angular velocity calculation value of the servo motor in the current control period obtained by measurement of the first sensor, carries out PID operation on the angular displacement value and an actual angular displacement difference value of the servo motor fed back by the encoder to obtain an angular velocity value, the servo driver 31 converts the angular velocity value into a voltage value (-10V to + 10V) to drive the servo motor to rotate, and after the servo motor outputs the angular velocity, the angular velocity signal reduced by the reducer drives blades simulated by the simulator 1 to rotate through the gear box to change the propeller.

The wind direction change is dealt with through the yaw actuating mechanism 4, so that the wind generating set can obtain the optimal pneumatic power capture in the running state.

Referring to fig. 2, the yaw performing mechanism 4 may include a step driving motor 41, and the PLC main controller 2 sends a yaw control command to the step driving motor 41 according to the wind direction information, so as to track the wind direction by the step driving motor 41 to represent the guarantee of the windward side. Wherein the rotation range of the step driving motor 41 is 360 °.

Further, the yaw actuating mechanism 4 may further include a second sensor that measures second rotation information of the output shaft of the stepping drive motor 41 and transmits the second rotation information to the simulator 1 for automatic control of the yaw. In this embodiment, the nacelle yaw angle is determined based on the second rotation information.

The second sensor may include a speed sensor and/or an angle sensor, and the present embodiment does not specifically limit the types of the speed sensor and the angle sensor.

The yaw control process may include: the PLC master controller 2 sends a yaw control command clockwise or anticlockwise to the stepping drive motor 41 according to wind direction information to drive the stepping drive motor 41 to run, in order to reduce the gyro moment during yaw, the stepping drive motor 41 decelerates through a reducer coaxially connected and then applies the yaw moment to a large gear of a revolving body to drive the wind wheel simulated by the simulator 1 to yaw and face wind, and after the yaw and face wind is finished, the stepping drive motor 41 stops working, and the yaw control process is finished.

In this embodiment, the simulator 1 performs analog control on the mechanical model to obtain dynamic characteristic data of the wind turbine generator system, and transmits the dynamic characteristic data to the PLC controller. The PLC transmits the electric energy data in the dynamic characteristic data to the converter system 6, the converter system 6 carries out power supply simulation according to the electric energy data, and a torque signal of the wind generating set is output to the simulator 1.

The dynamic characteristic data may be, among other things, data such as aerodynamic characteristics, load characteristics, power characteristics, rotor speed, etc.

Aiming at the offshore wind generating set, the simulator 1 needs to simulate the operation environment load of the wind generating set, and mainly comprises the coupling of various factors such as wind, waves, current, fan gravity and the like, on the spatial distribution of the factors, a tower, a hub, a cabin and blades above the water surface are mainly influenced by wind, and the submerged part of the tower is influenced by the waves and the current. The distribution of these environmental factors, the load characteristics that have been caused to the wind turbine generator system, are all key components in analyzing the control system load characteristics and dynamic performance of offshore wind turbine generator systems. In the wind wave flow load operation state, the coupling relation between the wind wave flows can refer to an SCADA database of the actual wind generating set operation. According to the SCADA database, the relation between the wind and the wave flow is analyzed, the wind speed is actually measured by the laser radar 5, the wave flow value can be obtained through the tested wind speed data, and the wave flow data can be simulated in a simulator (blanked or FAST) and other tools. For example, the set range of the turbulence intensity is 8% -20%, and the variation of the turbulence intensity in the set range is 2%; for the wave characteristics, the still water level of the wind generating set is 30m, the sea current is considered to be set to be uniform flow and is different from 0.3m/s to 2m/s, and the wave period is set to be 0.4s, 0.5s, 0.75s, 1s and 1.25 s.

The PLC master 2 communicates with the emulator 1 through PVI, and this communication function can realize exchange of variables.

Referring to fig. 3, the converter system 6 may comprise a communication circuit 61, a converter control circuit 62, a converter drive circuit 63 and an RT BOX platform 64, wherein the PLC master 2 is further communicatively connected to the converter control circuit 62 via the communication circuit 61, and the converter control circuit 62 is communicatively connected to the RT BOX platform 64 via the converter drive circuit 63.

In this embodiment, the RT BOX platform 64 simulates an IGBT module and a grid platform of a converter of a wind turbine generator system, and the simulator 1 performs simulation control on a mechanical model to obtain dynamic characteristic data of the wind turbine generator system. The dynamic characteristic data sequentially passes through the PLC main controller 2, the communication circuit 61, the converter control circuit 62 and the converter driving circuit 63, then is input into the RT BOX platform 64, and is processed by the IGBT module to simulate the power supply to the power grid platform.

The RT BOX platform 64 also determines the torque signal of the wind turbine generator set based on the rotational speed information of the wind turbine generator set in the dynamic characteristic data.

It should be noted that the RT BOX platform 64 simulates an IGBT module of a converter of a wind turbine generator system and a grid platform, and simulates power supply to the grid platform, and the above process can be implemented by using an existing program.

The RT Box electronic power semi-physical simulation platform can be a PLECS RT Box semi-physical simulator, is provided with abundant digital and analog interfaces and an operation module integrated with an FPGA aiming at electronic power application, and can rapidly process a real-time model in hardware in-loop and rapid control prototype tests.

The RT BOX platform 64 of the present embodiment is capable of analyzing converter heat dissipation.

Referring to fig. 4, the simulator 1 may simulate a direct drive permanent magnet synchronous generator (PMSM) to convert mechanical energy of a wind turbine generator into electrical energy, and then convert ac power with unstable frequency and amplitude generated by the PMSM into ac power with the same frequency and amplitude as the voltage of the grid and incorporate the ac power into the grid through a back-to-back converter (including a machine-side converter and a grid-side converter).

The converter control circuit 62 may include a DSP (Digital Signal Processing), an FPGA (Field Programmable Gate Array), and an ARM (Advanced RISC Machines), wherein the DSP is responsible for algorithm and control, the FPGA is responsible for logic and timing control, and the ARM is responsible for scheduling a plurality of tasks of the DSP.

Referring to fig. 5, the converter control circuit 62 may include a control circuit board and a peripheral circuit board, which are connected by pins to detachably connect the control circuit board and the peripheral circuit board. As shown in fig. 5, pins are respectively disposed around the control circuit board for detachably connecting different modules of the peripheral circuit board.

The control circuit board can comprise a main control module, a high-precision ADC module, a high-precision DAC module, a level conversion module, a dial switch, an LED indicator light, an off-chip memory and the like. The main control module adopts a structure combining a DSP, an FPGA and an ARM. The ADC module and the DAC module are respectively responsible for converting analog signals into digital signals and converting digital signals into analog signals, the level conversion module main control modules perform bidirectional level conversion between 1.8V and 3.3V and a peripheral circuit board 5V, the dial switch comprises starting mode selection and address selection, the LED indicator light power supply voltage and control signal indication, and off-chip memory data are stored externally.

The peripheral circuit board collects signals such as voltage, current, temperature and the like, the signals are conditioned and filtered and then are respectively sent to the ADC module of the control circuit board and the ADC module of the main control module to be subjected to digital-to-analog data conversion, and finally the signals are transmitted to the DSP to be processed. The peripheral circuit board can comprise a power interface, a master power module, a digital-to-analog conversion module, a load current sampling module, a direct current voltage sampling module, an alternating current voltage sampling module, a bridge arm current sampling module, a temperature sampling conditioning module, a voltage zero-crossing detection module, a hardware protection module, an upper computer communication module, an optical fiber interface module and the like.

The PLC main controller 2 and the communication circuit CAN communicate with each other through a Profibus DP communication interface, and the communication circuit and the converter control circuit 62 CAN communicate with each other through a CAN communication interface. It should be understood that other communication means may be used between the PLC master 2 and the communication circuit, and between the communication circuit and the converter control circuit 62.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A simulation experiment device of a wind generating set is characterized by comprising a simulator, a PLC (programmable logic controller) main controller, a pitch control executing mechanism, a yaw executing mechanism and a converter system, wherein the simulator is in communication connection with the PLC main controller, the pitch control executing mechanism, the yaw executing mechanism and the converter system respectively;

wherein the simulator simulates a mechanical model of the wind generating set;

the PLC master controller controls the pitch changing executing mechanism and the yaw executing mechanism to act respectively, and the simulator simulates control over the mechanical model according to the pitch angle determined by the output of the pitch changing executing mechanism, the cabin yaw angle determined by the output of the yaw executing mechanism and the torque signal output by the converter system.

2. The simulation experiment device of the wind generating set according to claim 1, further comprising a laser radar and an air supply device, wherein the air supply device generates wind, the laser radar is in communication connection with the PLC master controller, the laser radar detects ambient wind information, and the PLC master controller controls the pitch-changing actuating mechanism and the yaw actuating mechanism to respectively act according to the ambient wind information.

3. The simulation experiment device of the wind generating set according to claim 2, wherein the pitch control actuator comprises a servo driver, a motor and a speed reduction mechanism, the servo driver is in communication connection with the PLC master controller, and the servo driver controls the motor to drive an output shaft gear of the speed reduction mechanism to rotate according to wind speed information in the ambient wind information.

4. The simulation experiment device of the wind generating set according to claim 3, wherein the pitch control actuating mechanism further comprises a first sensor for measuring first rotation information of an output shaft gear of the speed reducing mechanism and transmitting the first rotation information to the simulator.

5. Simulation test device of a wind park according to claim 4, wherein the first sensor comprises a speed sensor and/or an angle sensor.

6. The wind generating set simulation experiment device of claim 1, wherein the yaw actuating mechanism comprises a stepping driving motor.

7. The experimental simulation apparatus of a wind generating set according to claim 6, wherein the yaw actuating mechanism further comprises a second sensor for measuring a second rotation information of the output shaft of the stepping driving motor and transmitting the second rotation information to the simulator.

8. The wind turbine generator system simulation experiment device according to claim 7, wherein the second sensor comprises a speed sensor and/or an angle sensor.

9. The wind generating set simulation experiment apparatus according to claim 1, wherein the converter system comprises a communication circuit, a converter control circuit, a converter driving circuit and an RT BOX platform, wherein the RT BOX platform simulates an IGBT module and a grid platform of a converter of the wind generating set.

10. The simulation experiment device of the wind generating set according to claim 9, wherein the PLC master and the communication circuit are in communication through a Profibus DP communication interface, and the communication circuit and the converter control circuit are in communication through a CAN communication interface.