风电机组运行动态数字孪生建模及半物理仿真

doi:10.16182/j.issn1004731x.joss.22-1307

摘要/Abstract

摘要：

面向数字孪生技术所提出的精准映射与实时仿真需求，针对大型风电机组复杂非线性运行特性，提出了一种多输入-多输出(multi-input multi-output, MIMO)有限差分域-混合半机理(finite difference domain-hybrid semi-mechanical, FDD-HSM)数字孪生建模方法，建立了含物理控制器的风电机组数字孪生半物理仿真系统。推导机组集成动态MIMO-FDD-HSM模型结构；定义可表征机组运行工况的有限差分回归向量，完成全工况下有限差分空间紧致凸划分、参数模型辨识以及非参数模型训练；联合物理控制器搭建风电机组数字孪生仿真系统，开展硬件在环实时仿真。结果表明：该仿真系统具有高精度、实时逼近能力。

关键词: 风力发电, 数字孪生, 混合半机理, 有限差分域, 半物理仿真

Abstract:

For the accurate mapping and real-time simulation requirements proposed by digital twin technology, a multi-input multi-output (MIMO) finite difference domain-hybrid semi-mechanical (FDD-HSM) digital twin modeling method is proposed, and a semi-physical simulation system of wind turbine digital twin with physical controller is established for the complex nonlinear operation characteristics of large wind turbines. The integrated dynamic MIMO-FDD-HSM model structure is constructed. Finite difference regression vectors are defined to characterize the operating conditions of the wind turbine, and finite difference space tight convex partitioning, parametric model identification, and non-parametric model training are completed under full operating conditions. The wind turbine digital twin simulation system is built in conjunction with the physical controller to carry out real-time hardware-in-the-loop simulation. The results show that the simulation system has high accuracy and real-time approximation capability.

Key words: wind power generation, digital twin, hybrid semi-mechanical, finite difference domain, semi-physical simulation

中图分类号:

TP391.9

胡阳,王蔚然,房方等 . 风电机组运行动态数字孪生建模及半物理仿真[J]. 系统仿真学报, 2024, 36(3): 636-648.

Hu Yang,Wang Weiran,Fang Fang,et al . Dynamic Digital Twin Modelling and Semi-Physical Simulation of Wind Turbine Operation[J]. Journal of System Simulation, 2024, 36(3): 636-648.

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参数	量值
额定功率/MW	5
切入风速/(m/s)	3
额定风速/(m/s)	11.4
切出风速/(m/s)	25
切入转子转速/(r/min)	6.9
额定转子转速/(r/min)	12.1
齿轮箱传动比N_g	97
低速轴转动惯量J_r/(kN·m²)	38 677 060
高速轴转动惯量J_g/(kN·m²)	534.116
传动系统刚度系数A_stif/(kN·m/rad)	867 637
传动系统阻尼系数B_damp/(kN·m/(rad/s))	6 215
风轮半径R/m	63
发电机效率η/%	94.4
空气密度ρ/(kg/m³)	1.225

系数	χ₃-χ₂	χ₂-χ₁
b₁	24.479 2	909.366 0
b₂	9 277.357 0	0.354 6
b₃	7 278.462 5	13 914.124 6
b₄	24.455 4	909.119 7
b₅	9 267.522 0	0.352 0
b₆	7 289.170 3	13 912.810 6
b₇	-753.087 1	66 140.236 8
b₈	-317 229.361 4	6 703 903.171 6
b₉	-324 452.375 8	6 702 204.424 9
b₁₀	-330 375.563 8	6 700 569.554 1
b₁₁	-334 280.769 2	6 698 982.689 2

系数	χ₁	χ₂	χ₃
J_r	42 645 023.35	31 829 148.45	32 674 067.85
J_g	592.48	554.35	533.94
A_stif	867 613	867 675	867 637
B_damp	6 270.20	6 212.43	6 215.25
a₁	-21 322.51	-15 550.09	-15 962.88
a₂	-21 322.51	-15 549.39	-15 962.16
b₁	1 749 998.36	2 399 348.05	2 463 039.85
b₂	-1 590 591.38	-2 585 319.39	-2 653 947.89
c₁	-848.17	-6 217.85	-6 382.91
c₂	-519.48	-6 216.67	-6 381.70
d₁	-6.26	-6.80	-6.98
d₂	28.93	5.49	5.64
d₃	-16.64	-18.58	-19.08
d₄	29.88	23.57	24.20

子模型域	J_r	J_g	A_stif	B_damp
χ₁	-10.26	-10.93	3.19e-9	-1.43e-4
χ₂	17.71	-3.79	-5.05e-9	6.65e-6
χ₃	15.52	6.17e-5	0	-6.47e-6

工作域		RMSE	MAE	MAPE/%
场景1	ω_g	0.016 1	0.008 9	0.011 2
场景1	T_shaft	23.881 1	17.715 8	2.317 2
场景2	ω_g	0.225 5	0.159 8	0.130 0
场景2	T_shaft	63.366 6	45.298 5	1.091 3
场景3	ω_g	0.378 4	0.176 8	0.1466
场景3	T_shaft	64.534 4	38.493 3	1.154 6
场景4	ω_g	0.194 4	0.132 9	0.108 6
场景4	T_shaft	45.903 5	33.646 9	0.861 2