CN102705160B - Rotating speed control method and device of wind generation set - Google Patents
Rotating speed control method and device of wind generation set Download PDFInfo
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- CN102705160B CN102705160B CN201210170109.0A CN201210170109A CN102705160B CN 102705160 B CN102705160 B CN 102705160B CN 201210170109 A CN201210170109 A CN 201210170109A CN 102705160 B CN102705160 B CN 102705160B
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Abstract
The invention discloses a rotating speed control method and device of a wind generation set. The rotating speed control method of the wind generation set comprises the following steps of: obtaining a current working condition of the wind generation set; judging whether the current working condition of the wind generation set is a normal working condition or not; and when the current working condition of the wind generation set is in an improper working condition, controlling a rotating speed of a rotor of the wind generation set to stabilize the rotating speed of the wind generation set. According to the invention, a corresponding control policy is formulated aiming at the problem which is possibly caused by the wind generation set under the improper working condition, so that under the improper working condition, the rotating speed of the rotor is adjusted by executing the pre-formulated control policy aiming at the working condition, namely the rotating speed of the wind generation set can be better stabilized; and therefore, the set can be safely operated for a long period of time under the improper working conditions including voltage fluctuation of a power grid and the like.
Description
Technical field
The present invention relates to wind power generation field, in particular to a kind of method for controlling number of revolution and device of Wind turbines.
Background technique
In current wind power plant, variable-pitch variable-speed Wind turbines is mainstream model.Because wind energy has randomness and uncertainty; the rotating speed of Wind turbines also becomes with wind speed; and the rotation speed change of Wind turbines can affect the quality of power supply and the load of unit; so how to ensure the stability of Wind turbines rotating speed under various operating mode; it is the key technology of design blower fan unit; wherein, under the damages such as voltage ripple of power network, electric network power-fail, limit fitful wind, the rotating speed protecting control of Wind turbines seems particularly important.
Prior art, below rated power, is controlled by power, and the change with wind speed adjusts generator speed in real time, makes wind power generating set operate in maximum power point, improves wind-driven generator wind energy absorption efficiency as far as possible; More than specified, adjust pitch by variable blade control system, stablize generating unit speed, restriction rack load, guaranteed output steadily exports.Below rated power, wind power generating set rotating speed is all in allowed band, and time more than rated power, generating unit speed is rated speed and changes along with wind speed.So, the key that variable blade control system will be stable generating unit speed.Typical variable blade control system as shown in Figure 1.
Said system in normal state, can be good at controlling running of wind generating set and generates electricity by way of merging two or more grid systems.But the environment more complicated residing for Wind turbines, this control strategy can not solve the rotating speed control problem of unit under damage targetedly.Such as, (1) voltage ripple of power network, lower than the voltage range (i.e. low voltage crossing state) that unit normally runs, unit active power is fast to be reduced speed, and existing variable blade control system reaction is slow, causes the rotating speed of unit to rise, causes hypervelocity.(2) voltage ripple of power network, higher than the voltage range (i.e. high voltage crossing state) that unit normally runs, unit active power will reduce rapidly, and existing variable blade control system reaction is slow, causes Wind turbines to exceed the speed limit.(3) voltage ripple of power network is serious, and unit cannot normally run, and in order to protect self and off-grid immediately, unit active power will reduce to rapidly zero, and existing variable blade control system reaction is slow, causes Wind turbines to exceed the speed limit.(4), when limit fitful wind, the change that unit responds wind speed fast makes unit exceed the speed limit.
Can not guarantee for Wind turbines in correlation technique the problem that generating unit speed is stable under damage, not yet propose effective solution at present.
Summary of the invention
The invention provides a kind of method for controlling number of revolution and device of Wind turbines, generating unit speed stable problem can not be guaranteed at least to solve Wind turbines under damage.
To achieve these goals, according to an aspect of the present invention, a kind of method for controlling number of revolution of Wind turbines is provided.
Method for controlling number of revolution according to Wind turbines of the present invention comprises: the current working obtaining Wind turbines; Whether the current working judging Wind turbines is nominal situation; And when the current working of Wind turbines is damage, control Wind turbines adjustment rotor speed with the rotating speed of constant wind group of motors.
Further, the current working obtaining Wind turbines comprises: the current electric grid magnitude of voltage obtaining Wind turbines, judge whether the current working of Wind turbines meets pre-conditioned comprising: judge the current electric grid magnitude of voltage of Wind turbines that gets whether in predetermined voltage range, wherein, when judging that the current electric grid magnitude of voltage of the Wind turbines got is in predetermined voltage range, determine that the current working of Wind turbines is nominal situation, judging that the current electric grid magnitude of voltage of the Wind turbines got is when predetermined voltage range is outer, determine that the current working of Wind turbines is damage.
Further, the magnitude of voltage obtaining the current Wind turbines of Wind turbines comprises: the frequency variator to Wind turbines sends the instruction of the current Wind turbines magnitude of voltage obtaining Wind turbines, and wherein, frequency variator is for detecting the current voltage value of Wind turbines; And the Wind turbines magnitude of voltage received from frequency variator.
Further, the current working obtaining Wind turbines comprises: the current rotor rotating speed obtaining Wind turbines, judge whether the current working of Wind turbines meets pre-conditioned comprising: judge the current rotor rotating speed of Wind turbines that gets whether within the scope of default rotor speed, wherein, when judging that the current rotor rotating speed of the Wind turbines got is within the scope of default rotor speed, determine that current working is nominal situation, judging that the current rotor rotating speed of the Wind turbines got is when default rotor speed scope is outer, determines that current working is damage.
Further, the rotor speed obtaining the current Wind turbines of Wind turbines comprises: the sensor to Wind turbines sends the instruction of the current rotor rotating speed obtaining Wind turbines, and wherein, sensor is for detecting the current rotor rotating speed of Wind turbines; And receive the current Wind turbines rotor speed of sensor.
Further, control Wind turbines adjustment rotating speed to comprise with the rotor speed of constant wind group of motors: obtain the correction factor for adjusting rotor speed; And by correction factor adjustment to the control of rotor speed with the rotating speed of constant wind group of motors.
Further, the correction factor obtained for adjusting rotor speed comprises: according to rotor speed and the default rotor speed range computation rotor speed deviate of current Wind turbines; Rotor speed deviate is utilized to calculate rotor speed deviate variance ratio; Calculate the product of rotor speed deviate and rotor speed deviate variance ratio; When the product of rotor speed deviate and rotor speed deviate variance ratio is greater than first threshold, the first correction factor user arranged is as correction factor; When the product of rotor speed deviate and rotor speed deviate variance ratio is between first threshold and Second Threshold, the second correction factor user arranged is as correction factor, and wherein, first threshold is greater than Second Threshold; And when the product of rotor speed deviate and rotor speed deviate variance ratio is less than Second Threshold, the 3rd correction factor user arranged is as correction factor.
Further, control Wind turbines to comprise with the rotating speed of constant wind group of motors: determine that current working is converted to nominal situation by damage; And power is returned to normal output.
To achieve these goals, according to another aspect of the present invention, provide a kind of revolution speed control device of Wind turbines, this device is for performing the method for controlling number of revolution of any one Wind turbines provided by the invention.
According to a further aspect in the invention, a kind of revolution speed control device of Wind turbines is provided.The revolution speed control device of this Wind turbines comprises: acquiring unit, for obtaining the current working of Wind turbines; Judging unit, for judging whether the current working of Wind turbines is nominal situation; And control unit, for when the current working of Wind turbines is damage, control Wind turbines adjustment rotor speed with the rotating speed of constant wind group of motors.
Further, acquiring unit comprises: first obtains subelement, for obtaining the current electric grid magnitude of voltage of Wind turbines, judging unit comprises: the first judgment sub-unit, for judging that the current electric grid magnitude of voltage of the Wind turbines got is whether in predetermined voltage range, wherein, when judging that the current electric grid magnitude of voltage of the Wind turbines got is in predetermined voltage range, determine that the current working of Wind turbines is nominal situation, judging that the current electric grid magnitude of voltage of the Wind turbines got is when predetermined voltage range is outer, determine that the current working of Wind turbines is damage.
Further, first obtains subelement comprises: the first transmitting module, and for sending the instruction of the current Wind turbines magnitude of voltage obtaining Wind turbines to the frequency variator of Wind turbines, wherein, frequency variator is for detecting the current voltage value of Wind turbines; And first receiving module, for receiving the Wind turbines magnitude of voltage from frequency variator.
Further, acquiring unit comprises: second obtains subelement, for obtaining the current rotor rotating speed of Wind turbines, judging unit comprises: the second judgment sub-unit, for judging that the current rotor rotating speed of the Wind turbines got is whether within the scope of default rotor speed, wherein, when judging that the current rotor rotating speed of the Wind turbines got is within the scope of default rotor speed, determine that current working is nominal situation, judging that the current rotor rotating speed of the Wind turbines got is when default rotor speed scope is outer, determines that current working is damage.
Further, second obtains subelement comprises: the second transmitting module, and for sending the instruction of the current rotor rotating speed obtaining Wind turbines to the sensor of Wind turbines, wherein, sensor is for detecting the current rotor rotating speed of Wind turbines; And second receiving module, for receiving the current Wind turbines rotor speed of sensor.
Further, control unit comprises: the 3rd obtains subelement, for obtaining the correction factor of adjustment rotor speed; And adjustment subelement, for by correction factor adjustment to the control of rotor speed with the rotating speed of constant wind group of motors.
Further, the 3rd obtains subelement comprises: the first computing module, for according to the rotor speed of current Wind turbines and default rotor speed range computation rotor speed deviate; Second computing module, calculates rotor speed deviate variance ratio for utilizing rotor speed deviate; 3rd computing module, for calculating the product of rotor speed deviate and rotor speed deviate variance ratio; First acquisition module, for when the product of rotor speed deviate and rotor speed deviate variance ratio is greater than first threshold, the first correction factor user arranged is as correction factor; Second acquisition module, for when the product of rotor speed deviate and rotor speed deviate variance ratio is between first threshold and Second Threshold, the second correction factor user arranged is as correction factor, and wherein, first threshold is greater than Second Threshold; And the 3rd acquisition module, for when the product of rotor speed deviate and rotor speed deviate variance ratio is less than Second Threshold, the 3rd correction factor user arranged is as correction factor.
Further, control unit comprises: determine subelement, for determining that current working is converted to nominal situation by damage; And recovery subelement, for power is returned to normal output.
Pass through the present invention; for the problem that Wind turbines under damage may run into; formulate corresponding control strategy; so when damage; the control strategy that execution pre-establishes for this operating mode is to adjust the rotating speed of rotor; get final product the rotating speed of constant wind group of motors better, therefore solve Wind turbines and can not guarantee the problem that generating unit speed is stable under damage, enable unit long-time safe operation under the damages such as voltage ripple of power network.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is variable blade control system schematic diagram of the prior art;
Fig. 2 is the structured flowchart of the revolution speed control device of Wind turbines according to the embodiment of the present invention;
Fig. 3 is the structured flowchart of the revolution speed control device of Wind turbines according to first preferred embodiment of the invention;
Fig. 4 is the structured flowchart of the revolution speed control device of Wind turbines according to second preferred embodiment of the invention;
Fig. 5 is the structured flowchart of the revolution speed control device of Wind turbines according to third preferred embodiment of the invention;
Fig. 6 is the flow chart of the method for controlling number of revolution of Wind turbines according to the embodiment of the present invention;
Fig. 7 is the schematic diagram of the variable blade control system according to the embodiment of the present invention;
Fig. 8 is the schematic diagram according to the revolution speed control system under the damage of the embodiment of the present invention; And
Fig. 9 is the schematic diagram of the self-adaptive PID controller according to the embodiment of the present invention.
Embodiment
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
Embodiments provide a kind of revolution speed control device of Wind turbines, below the revolution speed control device of the Wind turbines that the embodiment of the present invention provides is introduced.
Fig. 2 is the structured flowchart of the revolution speed control device of Wind turbines according to the embodiment of the present invention.
As shown in Figure 2, the revolution speed control device of this Wind turbines comprises acquiring unit 11, judging unit 12 and control unit 13.
Acquiring unit 11 is for obtaining the current working of Wind turbines.
According to different measurement indexes, different acquiring units 11 can be used to obtain current working, such as, when obtaining the current working of Wind turbines by the current electric grid magnitude of voltage of Wind turbines, the function of acquiring unit 11 can be realized by frequency variator.
Judging unit 12 is for judging whether the current working of Wind turbines is nominal situation.
Judging unit 12 can be realized by CPU.
Control unit 13, for when the current working of Wind turbines is damage, controls Wind turbines adjustment rotor speed with the rotating speed of constant wind group of motors.
Control unit 13 can be realized by self-adaptive PID controller.
In the present embodiment, for the problem that Wind turbines under damage may run into, formulate corresponding control strategy, so when damage, perform the control strategy that pre-establishes for this operating mode to adjust the rotating speed of rotor, can the rotating speed of constant wind group of motors better.
Fig. 3 is the structured flowchart of the revolution speed control device of Wind turbines according to first preferred embodiment of the invention.This embodiment can as preferred implementation embodiment illustrated in fig. 2.
As shown in Figure 3, the revolution speed control device of this Wind turbines comprises acquiring unit 11, judging unit 12 and control unit 13, and wherein, acquiring unit 11 comprises the first acquisition subelement 111, and judging unit 12 comprises the first judgment sub-unit 121.
First obtains subelement 111 for obtaining the current electric grid magnitude of voltage of Wind turbines.
First obtains subelement 111 can be realized by the frequency variator of Wind turbines.
First judgment sub-unit 121 is for judging that the current electric grid magnitude of voltage of the Wind turbines got is whether in predetermined voltage range, wherein, when judging that the current electric grid magnitude of voltage of the Wind turbines got is in predetermined voltage range, determine that the current working of Wind turbines is nominal situation, judging that the current electric grid magnitude of voltage of the Wind turbines got is when predetermined voltage range is outer, determines that the current working of Wind turbines is damage.
Preferably, the first acquisition subelement can also comprise the first transmitting module and the first receiving module.
First transmitting module is used for the instruction sending the current Wind turbines magnitude of voltage obtaining Wind turbines to the frequency variator of Wind turbines, and wherein, frequency variator is for detecting the current voltage value of Wind turbines.First transmitting module can send this instruction in real time incessantly, this instruction of transmission that also can be regular, in the present embodiment, in order to realize accuracy and the promptness of measurement, selects the instruction sending the current Wind turbines magnitude of voltage obtaining Wind turbines in real time.
First receiving module is for receiving the Wind turbines magnitude of voltage from frequency variator.
In this embodiment, it is normal or improper for measuring current working with the current electric grid magnitude of voltage of Wind turbines for foundation, and carries out corresponding control under different operating mode, thus stabilizes rotor speed quickly.
Fig. 4 is the structured flowchart of the revolution speed control device of Wind turbines according to second preferred embodiment of the invention.This embodiment can as preferred implementation embodiment illustrated in fig. 2.
As shown in Figure 4, the revolution speed control device of this Wind turbines comprises acquiring unit 11, judging unit 12 and control unit 13, and wherein, acquiring unit 11 comprises the second acquisition subelement 112, and judging unit 12 comprises the second judgment sub-unit 122.
Second obtains subelement 112 for obtaining the current rotor rotating speed of Wind turbines.
Second obtains subelement 112 can be realized by the sensor of the current rotor rotating speed for detecting Wind turbines.
Second judgment sub-unit 122 is for judging that the current rotor rotating speed of the Wind turbines got is whether within the scope of default rotor speed, wherein, when judging that the current rotor rotating speed of the Wind turbines got is within the scope of default rotor speed, determine that current working is nominal situation, judging that the current rotor rotating speed of the Wind turbines got is when default rotor speed scope is outer, determines that current working is damage.
Preferably, the second acquisition subelement can also comprise the second transmitting module and the second receiving module.
Second transmitting module is used for the instruction sending the current rotor rotating speed obtaining Wind turbines to the sensor of Wind turbines, and wherein, sensor is for detecting the current rotor rotating speed of Wind turbines.Second transmitting module can send this instruction in real time incessantly, this instruction of transmission that also can be regular, in the present embodiment, in order to realize accuracy and the promptness of measurement, selects the instruction sending the current Wind turbines magnitude of voltage obtaining Wind turbines in real time.
Second receiving module is for receiving the current Wind turbines rotor speed of sensor.
In this embodiment, it is normal or improper for measuring current working with the current rotor rotating speed of Wind turbines for foundation, and carries out corresponding control under different operating mode, thus stabilizes rotor speed quickly.
Fig. 5 is the structured flowchart of the revolution speed control device of Wind turbines according to third preferred embodiment of the invention.This embodiment can as preferred implementation embodiment illustrated in fig. 4.
As shown in Figure 5, the revolution speed control device of this Wind turbines comprises acquiring unit 11, judging unit 12, control unit 13, second acquisition subelement 112 and the second judgment sub-unit 122, wherein, control unit 13 comprises the 3rd acquisition subelement 131 and adjustment subelement 132.
3rd obtains subelement 131 for obtaining the correction factor of adjustment rotor speed.
Adjustment subelement 132 for by correction factor adjustment to the control of rotor speed with the rotating speed of constant wind group of motors.
Preferably, the 3rd acquisition subelement 131 can also comprise the first computing module 1311, second computing module 1312, the 3rd computing module 1313, first acquisition module 1314, second acquisition module 1315 and the 3rd acquisition module 1316.
First computing module 1311 is for according to the rotor speed of current Wind turbines and default rotor speed range computation rotor speed deviate;
Second computing module 1312 calculates rotor speed deviate variance ratio for utilizing rotor speed deviate;
3rd computing module 1313 is for calculating the product of rotor speed deviate and rotor speed deviate variance ratio;
First acquisition module 1314 is for when the product of rotor speed deviate and rotor speed deviate variance ratio is greater than first threshold, and the first correction factor user arranged is as correction factor;
Second acquisition module 1315 is for when the product of rotor speed deviate and rotor speed deviate variance ratio is between first threshold and Second Threshold, and the second correction factor user arranged is as correction factor, and wherein, first threshold is greater than Second Threshold; And
3rd acquisition module 1316 is for when the product of rotor speed deviate and rotor speed deviate variance ratio is less than Second Threshold, and the 3rd correction factor user arranged is as correction factor.
Preferably, control unit comprises: determine subelement, for determining that current working is converted to nominal situation by damage; And recovery subelement, for power is returned to normal output.
In this embodiment, adjusted the control of PID controller by the control coefrficient of PID controller, thus realize the adjustment to rotor speed.
Embodiments provide, Fig. 6 is the flow chart of the method for controlling number of revolution of Wind turbines according to the embodiment of the present invention, and as shown in Figure 6, the method comprises following step S602 to step S606.In the present embodiment, the executive agent of each step is processor, all can reach the effect of the embodiment of the present invention using other control apparatuss or people as executive agent.
Step S602, obtains the current working of Wind turbines.
To the judgement of operating mode type, there is no fixed standard in, can be judged by many kinds of parameters value, in the present embodiment, the judgement of operating mode type is carried out by current electric grid magnitude of voltage or current Wind turbines rotor speed, because line voltage value and Wind turbines rotor speed can reflect current working intuitively, meanwhile, obtain line voltage value and Wind turbines rotor speed comparatively easy, current working can be understood more conveniently.
Step S604, judges whether the current working of Wind turbines is nominal situation.
When obtain in step S602 be the current electric grid magnitude of voltage of Wind turbines time, judge that the current electric grid magnitude of voltage of the Wind turbines got is whether in predetermined voltage range in this step, wherein, when judging that the current electric grid magnitude of voltage of the Wind turbines got is in predetermined voltage range, determine that the current working of Wind turbines is nominal situation, judging that the current electric grid magnitude of voltage of the Wind turbines got is when predetermined voltage range is outer, determines that the current working of Wind turbines is damage.
The magnitude of voltage of current Wind turbines is recorded by frequency variator, first to the instruction of the current Wind turbines magnitude of voltage of the frequency variator transmission acquisition Wind turbines of Wind turbines, wherein, frequency variator is for detecting the current voltage value of Wind turbines, frequency variator detects logic by it, judge the height of the magnitude of voltage of current Wind turbines, whether the current electric grid magnitude of voltage that further judgement gets is in predetermined voltage range, and this judged result is sent to controller, the Wind turbines magnitude of voltage that controller receives from frequency variator can judge whether current working is nominal situation, in order to improve the promptness of measurement, the magnitude of voltage of frequency variator to current Wind turbines is measured in real time.
The detection logic of frequency variator is herein: frequency variator Real-time Collection line voltage, and the scope residing for real-time judge line voltage U.If line voltage U is between default Umin and default Umax, then line voltage is normal, and namely running of wind generating set in normal conditions.If line voltage U is higher than Umax, namely higher than the voltage range that Wind turbines normally runs, then frequency variator enters high voltage crossing state.If line voltage U is less than Umin, namely lower than the voltage range that Wind turbines normally runs, then frequency variator enters low voltage crossing state.If line voltage still exceedes very large scope, frequency variator enters electric network power-fail state.
The judged result of controller real-time reception frequency variator, fan operation state also will enter corresponding normal operating condition, high voltage crossing state, low voltage crossing state or electric network power-fail state.Wherein, high voltage crossing state, low voltage crossing state and electric network power-fail state are damage.
When obtain in step S602 be the current rotor rotating speed of Wind turbines time, judge the current rotor rotating speed whether scope within the scope of default rotor speed of the Wind turbines got in this step, wherein, when judging that the current rotor rotating speed of the Wind turbines got is within the scope of default rotor speed, determine that current working is nominal situation, judging that the current rotor rotating speed of the Wind turbines got is when default rotor speed scope is outer, determines that current working is damage.
The current rotor rotating speed of Wind turbines is recorded by sensor, first controller is to the instruction of the current rotor rotating speed of the sensor transmission acquisition Wind turbines of Wind turbines, sensor measures rotor speed in real time, and measurement result is sent to controller, the current Wind turbines rotor speed that controller receives sensor can calculate in real time and judge whether current working is nominal situation.If Wind turbines rotor speed value or Wind turbines rotor speed variance ratio exceed predetermined threshold value, controller judges that running of wind generating set is under damage, otherwise judge that running of wind generating set operating mode is nominal situation, in order to improve the promptness of measurement, the magnitude of voltage of sensor to current Wind turbines is measured in real time.In order to improve the promptness of measurement further, in the present embodiment, sensor and frequency variator are side by side measured in real time.
The detection logic of detection rotor rotating speed is: controller detects generator speed in real time, and the variance ratio of real-time calculating generator rotating speed deviate and deviate.If generator speed value or generator speed variance ratio exceed predetermined threshold value, controller judges that unit operation is under damage, otherwise is nominal situation.
When nominal situation, adopt stable state control strategy, when damage, adopt transient state control strategy, according to the control characteristic Correction and Control system model of unit, adopt the rotational speed governor that transient state control strategy and stable state control strategy automatically switch.
When Wind turbines is in normal operating condition, adopt the rotational speed governor under stable state control strategy, to realize the safe operation of unit in regulation speed range; When running under Wind turbines is in damage, the rotating speed automatically switched under transient state control strategy controls, and quick response can suppress the unit hypervelocity problem under damage.
Step S606, when the current working of Wind turbines is damage, controls Wind turbines adjustment rotor speed with the rotating speed of constant wind group of motors.
In order to process damage, in original control system, add the rotating speed of another road controlling unit to Wind turbines control, Fig. 7 is the variable blade control system schematic diagram according to the embodiment of the present invention, as shown in Figure 7, within the system, under damage, the method for controlling number of revolution being different from nominal situation has been selected.The present embodiment is by controlling Wind turbines adjustment rotating speed with the rotor speed of constant wind group of motors, in order to realize this step, need the correction factor first obtained for adjusting rotor speed, then by correction factor adjustment to the control of rotor speed with the rotating speed of constant wind group of motors.Controlling Wind turbines goes adjustment rotating speed to have multiple method, Adaptive PID Control is used in the present embodiment, namely after the rotor speed obtaining current Wind turbines, calculate the correction factor of self-adaptive PID controller, then carried out the rotor speed of constant wind group of motors by the corrected parameter of self-adaptive PID controller.
Fig. 8 is the schematic diagram according to the revolution speed control system under the damage of the embodiment of the present invention, as shown in Figure 8, compared with control flow during nominal situation, before startup self-adaptive PID controller, need to judge whether that enabling maximum change oar speed controls, if so, then directly control with maximum change oar speed the process replacing self-adaptive PID controller and amplitude limit; If not, then self-adaptive PID controller is started.Compared to general PID controller, Adaptive PID Control has PID controller parameter correction, meanwhile, can also start differentiation element, and the advanced measurement of differentiation element foundation incoming flow wind speed or short-term prediction, control in advance.By increasing this two links, the rotating speed of Wind turbines can be controlled more exactly for specific operation.
The self-adaptive PID controller that the embodiment of the present invention provides is by carrying out self-adaptative adjustment to realize to PID controller parameter.Fig. 9 is the schematic diagram of the self-adaptive PID controller according to the embodiment of the present invention, and this PID controller carrys out the variance ratio of real-time calculating generator rotating speed deviate and deviate by multiplier, and then calculates the correction factor of PID controller in real time with this.Namely, according to rotor speed and the default rotor speed range computation rotor speed deviate of current Wind turbines, then utilize rotor speed deviate to calculate rotor speed deviate variance ratio, thus calculate the product of rotor speed deviate and rotor speed deviate variance ratio.When the product of rotor speed deviate and rotor speed deviate variance ratio is greater than first threshold, the first correction factor user arranged is as correction factor, such as, when the product of generator speed deviate and generator speed deviate variance ratio is less than or equal to a certain limit value V1, the correction factor of PID controller is 1, and correction factor is that the parameter of 1 expression PID controller does not need adjustment.When the product of rotor speed deviate and rotor speed deviate variance ratio is between first threshold and Second Threshold, the second correction factor user arranged is as correction factor, wherein, first threshold is greater than Second Threshold, such as the product of generator speed deviate and generator speed deviate variance ratio is greater than a certain limit value V2(V2>V1), illustrate that the parameter of PID controller is too small, then the correction factor of PID controller is N, namely need to be original N times by parameter adjustment, N>1.It should be noted that, the Wind turbines that the data of N, V1 and V2 are different model draws by the simulation calculation of blower fan model and field adjustable, and these data are also relevant with site environment, but in general, the data of the Wind turbines of unified model are substantially identical, only need fine setting.When the product of rotor speed deviate and rotor speed deviate variance ratio is less than Second Threshold, the 3rd correction factor user arranged is as correction factor, such as, when the product of generator speed deviate and generator speed deviate variance ratio is between limit value V1 and limit value V2, then the parameter of PID controller can calculate with linear interpolation algorithm or index difference value algorithm etc., such as, in linear interpolation algorithm, for y=kx+b, the product of definition generator speed deviate and generator speed deviate variance ratio is x, define correction factor is y simultaneously, so when the concrete coordinate values that acquisition two extreme cases are corresponding, the value of k and b can be tried to achieve, so between both of these case, the track of each point is foreseeable, namely corresponding correction factor y can all be obtained by the value x of any one product.The principle of index difference value is identical, such as, at y=x
nin+k, by the numerical value of extreme case, correction factor during any one situation in two kinds of extreme cases can be determined, be adjusted by the parameter of this correction factor to PID controller, namely achieve Adaptive PID Control.The adjustment carried out when being greater than a certain limit value V2 and between limit value V1 and limit value V2 time adjustment there is different regulating the speed, the object of adjustment is like this, regulates quickly in conjunction with operating mode at that time to Wind turbines.
If current working is damage, controller is changeable is self-adaptive PID controller pattern, this self-adaptive PID controller pattern suitably can increase controls in advance link or start the control of maximum rate change oar, and controls in advance link according to the operation conditions of blower fan, can take the algorithm of controls in advance.As under fitful wind operating mode, according to advanced measurement or the short-term prediction of incoming flow wind speed, control in advance, early response performs feathering action.Maximum rate becomes oar and controls to be that fan paddle-changing system performs feathering action with the fastest change oar speed when rotating speed rises very fast or higher, reduces the absorption of wind energy fast, until rotating speed controls below a threshold value.The variance ratio of self-adaptive PID controller real-time calculating generator rotating speed deviate and deviate, and the governing speed of PID is calculated in real time with this.Generator speed deviate is the deviation of generator actual speed and given rotating speed.Relevant with the variance ratio of rotating speed deviate and deviate to the adjusting strength of generator speed, if governing speed slowly, increases gain, namely Wind turbines rotor speed deviate is larger, or the variance ratio of Wind turbines rotor speed deviate is larger, thus the adjusting strength of PID controller is larger, the change oar control rate of Wind turbines is accelerated, it should be noted that, adjusting strength is that characterization controller is to the controlled quentity controlled variable of sizing, gain primarily of controller determines, governing speed is the real response amount of blower fan, it carries with wind and controls given etc. relevant, wherein, it is the load that wind-force produces blower fan that wind carries, this load is promotion sometimes, sometimes be obstructive.Controlling given is the response to actual conditions calculated.If now the rotor speed of Wind turbines is still higher than a certain comparatively ceiling value, then starts maximum rate and become oar control, make Wind turbines carry out feathering, fast and stable generating unit speed to become oar speed the soonest.
According to residing operating mode, judge to select suitable controlling unit.When voltage ripple of power network is larger, select the rotational speed governor of transient effect, the i.e. rotational speed governor of embodiment of the present invention use, when in the very stable situation of line voltage, select the rotational speed governor of stable state effect, the i.e. rotational speed governor of prior art use, to guarantee the quality of power supply of blower fan input electrical network.
Enter damage state, according to running of wind generating set state and outer work condition environment, adopt adaptive controller, self-regulating rotary speed, ensures unit safety operation.Such as; Wind turbines is when running into low voltage, and control system is by according to the type of grid voltage sags and fall amplitude determination torque settings value, in order to protect the electric components such as frequency variator; the power of Wind turbines during low voltage crossing can land quickly, even reduces to zero.The unexpected decline of generator electromagnetic torque, causes generating unit speed to jump, and generating unit speed cannot control in safety range by the control system under normality, and unit hypervelocity breaks down, and causes low voltage crossing failure, even likely threatens unit safety.The present invention is directed to this situation, be switched to the revolution speed control system under damage in time, and adopt more quick reasonably variable blade control system according to electrical network at that time and speed conditions, stabilized (steady-state) speed.When line voltage recovers, become oar and control and direct torque cooperation, ensure the rapidity that generating unit speed stability and power recover and stability.
Preferably, according to the concrete condition of damage, can judge to adopt which kind of rotating speed protecting control method.
The method for controlling number of revolution of the Wind turbines that the embodiment of the present invention provides have employed adaptive control system, and namely this control system regulates automatically according to information such as generator speed, line voltage, wind speed, stablizes generating unit speed.Wherein, damage is mainly divided into following three kinds:
1, relevant to voltage ripple of power network damage: i.e. low voltage crossing and high voltage crossing operating mode.The real-time detection of grid voltage of frequency variator, and the line voltage detected is passed to control system, judge whether to enter damage.When entering damage, control system switches to the rotating speed Control protection system under damage.Rotating speed Control protection system real-time calculating generator rotating speed deviate under damage and the variance ratio of deviate, calculate the governing speed of PID in real time with this.After line voltage recovers, Wind turbines, by the quick adjustment of direct torque, namely changes the governing speed of direct torque, make generator torque from very low level or zero, be increased to normal level fast, and increase active power fast, suppress the increase of Wind turbines rotating speed.
2, electric network power-fail operating mode: frequency variator and control system detect fan operation state in real time, if fan operation is in electric network power-fail operating mode, then judges that unit enters damage.Now Wind turbines off-grid immediately, Wind turbines rotor speed can rise comparatively fast, and control system switches to the rotating speed Control protection system under damage, particularly, self-adaptive PID controller and maximum rate can be adopted to become oar and control.Self-adaptive PID controller calculates the governing speed of PID in real time, if now the rotating speed of Wind turbines is still higher than a certain comparatively ceiling value, then starts maximum rate and becomes oar control, makes unit carry out feathering, fast and stable generating unit speed to become oar speed the soonest.
3, fitful wind operating mode: control system detects wind speed and rotating speed in real time, and judge whether unit enters damage.Now Wind turbines still generates electricity by way of merging two or more grid systems and power is general higher, and the rotor speed of Wind turbines can increase with the increase of wind speed, and control system switches to the rotating speed Control protection system under damage.Now seem more important to the controls in advance of gust response, controller can adopt self-adaptive PID controller, calculates the governing speed of PID with this in real time.Meanwhile, also can increase controls in advance link, according to advanced measurement or the short-term prediction of incoming flow wind speed, control in advance, early response performs feathering action.If now the rotating speed of Wind turbines is still higher than a certain comparatively ceiling value, then starts maximum change oar and control, make unit carry out feathering, fast and stable generating unit speed to become oar speed the soonest.
Finally, after determining that current working is converted to nominal situation by damage, just power returns to normal output.
It should be noted that, can perform in the computer system of such as one group of computer executable instructions in the step shown in the flow chart of accompanying drawing, and, although show logical order in flow charts, but in some cases, can be different from the step shown or described by order execution herein.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general computing device, they can concentrate on single computing device, or be distributed on network that multiple computing device forms, alternatively, they can realize with the executable program-code of computing device, thus, they can be stored and be performed by computing device in the storage device, or they are made into each integrated circuit module respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. a method for controlling number of revolution for Wind turbines, is characterized in that, comprising:
Obtain the current working of Wind turbines;
Whether the current working judging described Wind turbines is nominal situation; And
When the current working of described Wind turbines is damage, control described Wind turbines adjustment rotor speed to stablize the rotating speed of described Wind turbines,
Wherein,
The current working obtaining Wind turbines comprises: the current electric grid magnitude of voltage obtaining described Wind turbines,
Judge whether the current working of described Wind turbines meets pre-conditioned comprising: judge the current electric grid magnitude of voltage of described Wind turbines that gets whether in predetermined voltage range,
Wherein, when obtain Wind turbines current working obtain be the current electric grid magnitude of voltage of described Wind turbines time, when judging that the current electric grid magnitude of voltage of the described Wind turbines got is in predetermined voltage range, determine that the current working of described Wind turbines is nominal situation, judging that the current electric grid magnitude of voltage of the described Wind turbines got is when predetermined voltage range is outer, determine that the current working of described Wind turbines is damage
Wherein, the magnitude of voltage obtaining the current Wind turbines of described Wind turbines comprises:
Frequency variator to described Wind turbines sends the instruction of the current Wind turbines magnitude of voltage obtaining described Wind turbines, and wherein, described frequency variator is for detecting the current voltage value of described Wind turbines; And
Receive the Wind turbines magnitude of voltage from described frequency variator.
2. the method for controlling number of revolution of Wind turbines according to claim 1, is characterized in that,
The current working obtaining described Wind turbines comprises: the current rotor rotating speed obtaining described Wind turbines,
Judge whether the current working of described Wind turbines meets pre-conditioned comprising: judge the current rotor rotating speed of described Wind turbines that gets whether within the scope of default rotor speed,
Wherein, when the current working obtaining Wind turbines obtain be the current rotor rotating speed of described Wind turbines obtained time, when judging that the current rotor rotating speed of the described Wind turbines got is within the scope of default rotor speed, determine that described current working is nominal situation, judging that the current rotor rotating speed of the described Wind turbines got is when default rotor speed scope is outer, determines that described current working is damage.
3. the method for controlling number of revolution of Wind turbines according to claim 2, is characterized in that, the rotor speed obtaining the current Wind turbines of described Wind turbines comprises:
Sensor to described Wind turbines sends the instruction of the current rotor rotating speed obtaining described Wind turbines, and wherein, described sensor is for detecting the current rotor rotating speed of described Wind turbines; And
Receive the described current Wind turbines rotor speed from described sensor.
4. the method for controlling number of revolution of the Wind turbines according to any one of claim 2-3, is characterized in that, controls described Wind turbines adjustment rotating speed and comprises with the rotor speed stablizing described Wind turbines:
Obtain the correction factor for adjusting described rotor speed; And
By the adjustment of described correction factor to the control of described rotor speed to stablize the rotating speed of described Wind turbines.
5. the method for controlling number of revolution of Wind turbines according to claim 4, is characterized in that, the correction factor obtained for adjusting described rotor speed comprises:
According to rotor speed and the described default rotor speed range computation rotor speed deviate of described current Wind turbines;
Described rotor speed deviate is utilized to calculate rotor speed deviate variance ratio;
Calculate the product of described rotor speed deviate and described rotor speed deviate variance ratio;
When the product of described rotor speed deviate and described rotor speed deviate variance ratio is greater than first threshold, the first correction factor user arranged is as described correction factor;
When the product of described rotor speed deviate and described rotor speed deviate variance ratio is between first threshold and Second Threshold, the second correction factor user arranged is as described correction factor, and wherein, described first threshold is greater than described Second Threshold; And
When the product of described rotor speed deviate and described rotor speed deviate variance ratio is less than Second Threshold, the 3rd correction factor user arranged is as described correction factor.
6. the method for controlling number of revolution of Wind turbines according to claim 2, is characterized in that, controls Wind turbines and comprises with the rotating speed stablizing described Wind turbines:
Determine that current working is converted to nominal situation by damage; And
Power is returned to normal output.
7. a revolution speed control device for Wind turbines, is characterized in that, comprising:
Acquiring unit, for obtaining the current working of Wind turbines;
Judging unit, for judging whether the current working of described Wind turbines is nominal situation; And
Control unit, for when the current working of described Wind turbines is damage, controls described Wind turbines adjustment rotor speed to stablize the rotating speed of described Wind turbines,
Wherein,
Described acquiring unit comprises: first obtains subelement, for obtaining the current electric grid magnitude of voltage of described Wind turbines,
Described judging unit comprises: the first judgment sub-unit, for judging that the current electric grid magnitude of voltage of the described Wind turbines got is whether in predetermined voltage range,
Wherein, when obtain Wind turbines current working obtain be the current electric grid magnitude of voltage of described Wind turbines time, when judging that the current electric grid magnitude of voltage of the described Wind turbines got is in predetermined voltage range, determine that the current working of described Wind turbines is nominal situation, judging that the current electric grid magnitude of voltage of the described Wind turbines got is when predetermined voltage range is outer, determine that the current working of described Wind turbines is damage
Wherein, described first acquisition subelement comprises:
First transmitting module, for sending the instruction of the current Wind turbines magnitude of voltage obtaining described Wind turbines to the frequency variator of described Wind turbines, wherein, described frequency variator is for detecting the current voltage value of described Wind turbines; And
First receiving module, for receiving the Wind turbines magnitude of voltage from described frequency variator.
8. the revolution speed control device of Wind turbines according to claim 7, is characterized in that,
Described acquiring unit comprises: second obtains subelement, for obtaining the current rotor rotating speed of described Wind turbines,
Described judging unit comprises: the second judgment sub-unit, for judging that the current rotor rotating speed of the described Wind turbines got is whether within the scope of default rotor speed,
Wherein, when the current working obtaining Wind turbines obtain be the current rotor rotating speed of described Wind turbines obtained time, when judging that the current rotor rotating speed of the described Wind turbines got is within the scope of default rotor speed, determine that described current working is nominal situation, judging that the current rotor rotating speed of the described Wind turbines got is when default rotor speed scope is outer, determines that described current working is damage.
9. the revolution speed control device of Wind turbines according to claim 8, is characterized in that, described second obtains subelement comprises:
Second transmitting module, for sending the instruction of the current rotor rotating speed obtaining described Wind turbines to the sensor of described Wind turbines, wherein, described sensor is for detecting the current rotor rotating speed of described Wind turbines; And
Second receiving module, for receiving the described current Wind turbines rotor speed from described sensor.
10. the revolution speed control device of Wind turbines according to claim 8, is characterized in that, described control unit comprises:
3rd obtains subelement, for obtaining the correction factor adjusting described rotor speed; And
Adjustment subelement, for by the adjustment of described correction factor to the control of described rotor speed to stablize the rotating speed of described Wind turbines.
The revolution speed control device of 11. Wind turbines according to claim 10, is characterized in that, the described 3rd obtains subelement comprises:
First computing module, for according to the rotor speed of described current Wind turbines and described default rotor speed range computation rotor speed deviate;
Second computing module, calculates rotor speed deviate variance ratio for utilizing described rotor speed deviate;
3rd computing module, for calculating the product of described rotor speed deviate and described rotor speed deviate variance ratio;
First acquisition module, for when the product of described rotor speed deviate and described rotor speed deviate variance ratio is greater than first threshold, the first correction factor user arranged is as described correction factor;
Second acquisition module, for when the product of described rotor speed deviate and described rotor speed deviate variance ratio is between first threshold and Second Threshold, the second correction factor user arranged is as described correction factor, and wherein, described first threshold is greater than described Second Threshold; And
3rd acquisition module, for when the product of described rotor speed deviate and described rotor speed deviate variance ratio is less than Second Threshold, the 3rd correction factor user arranged is as described correction factor.
The revolution speed control device of 12. Wind turbines according to claim 8, is characterized in that, described control unit comprises:
Determine subelement, for determining that current working is converted to nominal situation by damage; And
Recover subelement, for power is returned to normal output.
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| CN103532453B (en) * | 2013-09-18 | 2016-06-22 | 武汉船用机械有限责任公司 | A kind of marine generator group control method and device |
| CN103595316B (en) * | 2013-11-25 | 2016-02-24 | 北京金风科创风电设备有限公司 | Generator electromagnetic torque compensation control method for wind turbine generator |
| CN104393807B (en) * | 2014-11-07 | 2017-09-22 | 美的集团股份有限公司 | The control method and its control system of motor |
| CN105157986B (en) * | 2015-06-17 | 2017-09-22 | 广东电网有限责任公司电力科学研究院 | A kind of monitoring reliability method for gas turbine hot-end component |
| CN110138304B (en) * | 2019-04-24 | 2021-03-09 | 浙江吉利控股集团有限公司 | Anti-shake control method and device for electric drive system and vehicle |
| CN110594098A (en) * | 2019-09-12 | 2019-12-20 | 华电电力科学研究院有限公司 | Over-speed control method for impeller of wind turbine generator |
| CN112947044B (en) * | 2019-12-11 | 2022-07-19 | 新疆金风科技股份有限公司 | PID control method and device and computer equipment |
| CN113623135B (en) * | 2021-09-15 | 2022-09-27 | 中国船舶重工集团海装风电股份有限公司 | Overspeed-preventing shutdown control method for wind turbine generator |
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| CN101832230A (en) * | 2010-05-14 | 2010-09-15 | 广西银河艾万迪斯风力发电有限公司 | Method for controlling wind generating set under strong wind |
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