CN114397806B - Wind turbine controller parameter optimization method based on optimal torque control method - Google Patents
Wind turbine controller parameter optimization method based on optimal torque control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/304—Spool rotational speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
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- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/32—Wind speeds
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/335—Output power or torque
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a wind turbine controller parameter optimization method based on an optimal torque control method, which comprises the following steps: establishing a frequency domain characteristic relation between wind speed and output power, wind speed and electromagnetic torque, and wind speed and rotating speed; according to the characteristic relation of the fans, analyzing and obtaining the stability constraint of the wind driven generator; combining the maximum amplitude and stability constraint of the frequency domain relation between wind speed and rotating speed to obtain a corresponding stable feasible domain; drawing a relation diagram between the maximum amplitude of the three frequency domain characteristic relation formulas and the controller PI parameter, optimizing the parameter value of the controller PI by combining the stability constraint of the fan generator, and optimizing the power and torque tracking and smoothing effects of the fan on the basis of meeting the stability feasible domain. The invention reasonably optimizes the parameter value of the controller and ensures that the effect of obtaining the maximum power by tracking the fan under the optimized parameter is better. In addition, the fan can still be in a stable operation feasible area while obtaining smoother power and torque.
Description
Technical Field
The invention relates to the technical field of wind power rotation speed control, in particular to a wind turbine controller parameter optimization method based on an optimal torque control method.
Background
Due to the increasing shortage of traditional energy sources such as coal, in recent years, renewable energy sources are widely popularized in various countries, and wind power generation is rapidly developed. However, the randomness and unpredictability of wind speed make the wind farm obtain fluctuating wind power, which brings about fluctuation of voltage or frequency, and further causes a series of unstable problems of the power grid. The capacity of the wind power plant integrated into the power grid gradually increases, so that the output power of the wind turbine generator needs to be smoothed as much as possible in order to improve the power quality of grid connection of the wind power system, and meanwhile, the stable operation of the power grid is ensured.
The large inertia of the fan rotor stores a large amount of kinetic energy, so that the kinetic energy of the rotor can be released and stored by adjusting the rotating speed of the fan, and the fluctuation of output power is restrained by utilizing the power adjusting capability of the wind turbine. Wind turbines are in fact very complex nonlinear systems, and wind energy captured by a wind turbine is related to various parameters, including parameters of the wind turbine itself, wind speed, air density, etc. For the design of a fan rotating speed controller considering a power control strategy of rotor kinetic energy, the selection of controller parameters is particularly important in order to ensure good output power fluctuation smoothing effect, maximum wind energy capture at low wind speed and constant power at high wind speed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the optimization method for the parameters of the wind turbine controller based on the optimal torque control method, which reasonably optimizes the parameter values of the controller and ensures that the effect of obtaining the maximum power by tracking the fan under the optimized parameters is better. In addition, the fan can still be in a stable operation feasible area while obtaining smoother power and torque.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the embodiment of the invention provides a wind turbine controller parameter optimization method based on an optimal torque control method, which comprises the following steps:
s1: respectively establishing frequency domain characteristic relation between wind speed and output power, wind speed and electromagnetic torque and wind speed and rotating speed based on an optimal torque control strategy of the wind turbine generator;
s2: according to the characteristic relation of the fans, analyzing and obtaining the stability constraint of the wind driven generator;
s3, combining the maximum amplitude of the frequency domain relation between the wind speed and the rotating speed and the stability constraint in the step S2 to obtain a corresponding stability feasible domain;
s4: drawing a relation diagram between the maximum amplitude of the three frequency domain characteristic relation formulas and the controller PI parameter in the step S1, optimizing the parameter value of the controller PI in combination with the stability constraint of the fan generator, optimizing the power and torque tracking and smoothing effects of the fan on the basis of meeting the stability feasible domain, and minimizing the fluctuation of power and torque while guaranteeing the stability of the rotating speed of the fan so as to obtain smoother and stable wind power output power.
Further, in step S1, the process of establishing frequency domain characteristic relations between wind speed and output power, wind speed and electromagnetic torque, and wind speed and rotation speed, respectively, includes the following steps:
s11, deducing an intermediate variable according to a block diagram of the optimal torque control strategy
In the formula (1), P e Represents the output power, ω represents the rotational angular velocity of the wind turbine,is a partial guide symbol; t (T) e0 A steady state value representing electromagnetic torque; k (k) 1 The electromagnetic torque conversion coefficient is calculated by the formula (2):
in formula (2), p is the pole pair number of the generator, ψ f Is a permanent magnet flux linkage; g sω Is a transfer function of a rotating speed ring controller PI of the generator, and the specific expression is expressed by a formula (3):
k in (3) pω 、K iω The proportional parameter and the integral parameter of the controller PI are respectively; s is the complex frequency;
s12, based on L obtained in step S11 V The frequency domain relation formulas for determining the wind speed to output power, rotating speed and torque of the fan are respectively as follows:
wherein P is W0 A steady state value representing fan input power; j is the rotational inertia of the rotor of the wind turbine, omega 0 A steady state value representing the rotational angular velocity of the wind turbine; k (k) 2 The maximum utilization coefficient of wind energy is calculated by a formula (7);
in the formula (7), R is the radius of a fan blade of the wind power plant; ρ is the air density; c (C) P，opt Is the maximum wind energy utilization coefficient; lambda (lambda) opt The tip speed ratio is obtained according to the formula (8); lambda (lambda) opt Is the optimal tip speed ratio;
λ opt ＝ωR/V (17)
in the formula (8), ω is a rotational angular velocity of the wind turbine, and V is a wind speed.
Further, in step S2, the stability constraint of the wind turbine is:
v in formula (9) 0 Is the steady state value of wind speed, deltaV is the variation of wind speed; Δω 1 As the rotation speed drop, Δω os Is the overshoot response generated when the rotational speed decreases.
Further, in step S3, a stable and feasible region under the optimization method is obtained from the maximum amplitude of the frequency domain relation between the wind speed and the rotation speed and the stability constraint in step S2;
Max(|G ω/V (jω)| ω＝0→∞ )≤1 (10)。
further, in step S4, the process of optimizing the parameter value of the controller PI in combination with the stability constraint of the fan generator includes the following steps:
s41, calculating corresponding maximum amplitude values based on three frequency domain relations of wind speed:
in the formula (11), M P Is the maximum amplitude of the frequency domain relation of wind speed to output power, M ω Is the maximum amplitude of the frequency domain relation from wind speed to rotating speed, M T Is the maximum amplitude of the frequency domain relation of wind speed to torque;
s42, drawing a graph of the maximum amplitude along with the change of the controller parameters, longitudinally comparing the three obtained graphs, combining the stable feasible region of the wind driven generator, and selecting M ω A value of not more than 1 and M P 、M T The controller parameter critical value with the minimum value is used as the optimized value of the controller parameter;
s43, comparing the optimized parameter value of the controller with the selected non-optimized parameter value.
The beneficial effects of the invention are as follows:
according to the fan control parameter optimization method based on the optimal torque control method, firstly, the optimal torque control of the fan is direct power control, a certain power fluctuation adjusting capacity is achieved by utilizing the rotating speed of the generator, and secondly, the relation of output power, electromagnetic torque and rotating speed along with the change of the controller parameters under the change of wind speed is reasonably quantized through the establishment of a frequency domain relation under an optimal torque control strategy. And according to the characteristic curves of the fan rotating speed, the wind speed and the torque, the stability constraint based on the frequency domain relation between the fan wind speed and the rotating speed is obtained through analysis, the parameter value of the controller is reasonably optimized, and the effect of obtaining the maximum power through fan tracking under the optimized parameter is better. In addition, the fan can still be in a stable operation feasible area while obtaining smoother power and torque.
Drawings
FIG. 1 is a flowchart of a method for optimizing parameters of a wind turbine controller based on an optimal torque control method according to an embodiment of the present invention.
Fig. 2 is a graph of a relationship between a rotational speed and an output power of a fan based on an optimal torque control strategy according to an embodiment of the present invention.
Fig. 3 is a block diagram of hysteresis vector control under optimal torque control according to an embodiment of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings.
It should be noted that the terms like "upper", "lower", "left", "right", "front", "rear", and the like are also used for descriptive purposes only and are not intended to limit the scope of the invention in which the invention may be practiced, but rather the relative relationship of the terms may be altered or modified without materially altering the teachings of the invention.
FIG. 1 is a flowchart of a method for optimizing parameters of a wind turbine controller based on an optimal torque control method according to an embodiment of the present invention. Referring to fig. 1, the optimization method includes the steps of:
s1: and respectively establishing frequency domain characteristic relation formulas between the wind speed and the output power, between the wind speed and the electromagnetic torque and between the wind speed and the rotating speed based on an optimal torque control strategy of the wind turbine.
S2: and analyzing and obtaining the stability constraint of the wind driven generator according to the characteristic relation of the fan.
S3, combining the maximum amplitude of the frequency domain relation between the wind speed and the rotating speed and the stability constraint in the step S2 to obtain a corresponding stability feasible domain.
S4: drawing a relation diagram between the maximum amplitude of the three frequency domain characteristic relation formulas and the controller PI parameter in the step S1, optimizing the parameter value of the controller PI in combination with the stability constraint of the fan generator, and optimizing the power and torque tracking and smoothing effects of the fan on the basis of meeting the stability feasible region, namely reducing the fluctuation of the power and the torque while guaranteeing the stability of the rotating speed of the fan, so as to obtain smoother and stable wind power output power.
There are many means for tracking and controlling the maximum wind energy, and the control based on the optimal torque uses the fan "speed-power" curve to maintain the specific relationship between the wind turbine speed and the electromagnetic torque, that is, uses the optimal torque obtained by the fan as the input reference value, and generates the required electromagnetic torque through the controller after deviation from the actual torque, and controls the fan speed through the electromagnetic torque to track the maximum wind power. The optimal torque control method is simple and easy to implement, does not need to acquire real-time wind speed information, and is widely applied to engineering. The optimal torque tracking control of the fan is a means for tracking and controlling the maximum power, the optimal torque obtained by the fan is used as an input reference value, the required electromagnetic torque is generated through the controller after deviation is carried out between the optimal torque and the actual torque, the rotating speed of the fan is controlled through the electromagnetic torque, so that the maximum wind power is tracked, and the relation between the rotating speed and the output power is shown in figure 2. After the torque value is given, the permanent magnet synchronous generator set adopts hysteresis vector control, and a control block diagram of the hysteresis vector control is shown in fig. 3.
On the basis, the frequency domain relation is established under the optimal torque control strategy, so that the relation of the output power, the electromagnetic torque and the rotating speed under the change of wind speed along with the change of the parameters of the controller is reasonably quantized. And according to the characteristic curves of the fan rotating speed, the wind speed and the torque, the stability constraint based on the frequency domain relation between the fan wind speed and the rotating speed is obtained through analysis, the parameter value of the controller is reasonably optimized, and the effect of obtaining the maximum power through fan tracking under the optimized parameter is better.
Specifically, in step S1, the frequency domain relation from wind speed to output power, rotation speed and torque of the fan is determined by the following processes:
s1.1: deriving intermediate variables from a block diagram of an optimal torque control strategy
In the formula (1), P e Represents the output power, ω represents the rotational angular velocity of the wind turbine,is a partial guide symbol; t (T) e0 A steady state value representing electromagnetic torque; k (k) 1 The electromagnetic torque conversion coefficient is calculated by the formula (2):
in formula (2), p is the pole pair number of the generator, ψ f Is a permanent magnet flux linkage.
G sω Is a transfer function of a rotating speed ring controller PI of the generator, and the specific expression is expressed by a formula (3):
k in (3) pω 、K iω The proportional parameter and the integral parameter of the controller PI are respectively.
S1.2: according toL obtained in step S1.1 V Determining a frequency domain relation from wind speed to output power, rotating speed and torque of the fan:
wherein P is W0 A steady state value representing fan input power; j is the rotational inertia of the rotor of the wind turbine, omega 0 A steady state value representing the rotational angular velocity of the wind turbine; k (k) 2 The maximum utilization coefficient of wind energy is calculated by the formula (7):
in the formula (7), R is the radius of a fan blade of the wind power plant; ρ is the air density; c (C) P，opt Is the maximum wind energy utilization coefficient; lambda (lambda) opt For tip speed ratio, according to equation (8):
λ opt ＝ωR/V (26)
in the formula (8), ω is a rotational angular velocity of the wind turbine, and V is a wind speed.
In step S2, the stability constraint of the wind turbine is:
v in formula (9) 0 Is the steady state value of wind speed, Δω 1 As the rotation speed drop, Δω os Is the overshoot response generated when the rotational speed decreases.
In step S3, the stable feasible region is obtained by the following method:
s3.1: calculating corresponding maximum amplitude values based on three frequency domain relations of wind speed:
s3.2: obtaining a stable feasible region under the optimization method by the maximum amplitude of the frequency domain relation between the wind speed and the rotating speed and the stability constraint in the step S2:
Max(|G ω/V (jω)| ω＝0→∞ )≤1 (29)。
in step S4, the optimization parameters of the controller are obtained by the following method:
drawing a graph of the maximum amplitude changing along with the controller parameters in the step S3.1, drawing a graph of the maximum amplitude changing along with the controller parameters, longitudinally comparing the three obtained graphs, and selecting M by combining the stability feasible region stability constraint (namely formula (10)) of the wind driven generator in the step S3.2 ω A value of not more than 1 and M P 、M T The controller parameter threshold value, which is relatively small in value, is taken as the optimized value of the controller parameter. On the basis of ensuring that the rotating speed of the fan is stabilized at the maximum amplitude of the rotating speed of less than 1, fluctuation of output power and torque is reduced, a certain optimization effect is achieved on the power and torque tracking and smoothing effects of the fan, and meanwhile, the power and torque tracking and smoothing effects are compared with selected non-optimization parameter values.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (2)
1. The wind turbine controller parameter optimization method based on the optimal torque control method is characterized by comprising the following steps of:
s1: respectively establishing frequency domain characteristic relation between wind speed and output power, wind speed and electromagnetic torque and wind speed and rotating speed based on an optimal torque control strategy of the wind turbine generator; the frequency domain relation from wind speed to output power, rotating speed and torque of the fan are respectively as follows:
wherein P is W0 A steady state value representing fan input power; j is the rotational inertia of the rotor of the wind turbine, omega 0 A steady state value representing the rotational angular velocity of the wind turbine; k (k) 2 The maximum utilization coefficient of wind energy is calculated by a formula (4);
in the formula (4), R is the radius of a fan blade of the wind power plant; ρ is the air density; c (C) P，opt Is the maximum wind energy utilization coefficient; lambda (lambda) opt The tip speed ratio is obtained according to the formula (5); lambda (lambda) opt Is the optimal tip speed ratio;
λ opt ＝ωR/V (5)
in the formula (5), omega is the rotation angular velocity of the wind turbine, and V is the wind speed;
s2: according to the characteristic relation of the fans, analyzing and obtaining the stability constraint of the wind driven generator;
s3, combining the maximum amplitude of the frequency domain relation between the wind speed and the rotating speed and the stability constraint in the step S2 to obtain a corresponding stability feasible domain;
s4: drawing a relation diagram between the maximum amplitude of three frequency domain characteristic relation formulas and a controller PI parameter in the step S1, optimizing parameter values of the controller PI in combination with stability constraint of a fan generator, optimizing power and torque tracking and smoothing effects of the fan on the basis of meeting a stable feasible region, and minimizing fluctuation of power and torque while guaranteeing stable rotating speed of the fan so as to obtain smoother and stable wind power output power;
in step S2, the stability constraint of the wind turbine is:
v in (6) 0 Is the steady state value of wind speed, deltaV is the variation of wind speed; Δω 1 As the rotation speed drop, Δω os Is overshoot response generated when the rotation speed is reduced;
in the step S3, the stable and feasible region under the optimization method is obtained by the maximum amplitude of the frequency domain relation between the wind speed and the rotating speed and the stability constraint in the step S2;
Max(|G ω/V (jω)| ω＝0→∞ )≤1 (7)；
in step S4, the process of optimizing the parameter values of the controller PI in combination with the stability constraint of the fan generator includes the steps of:
s41, calculating corresponding maximum amplitude values based on three frequency domain relations of wind speed:
in the formula (8), M P Is the maximum amplitude of the frequency domain relation of wind speed to output power, M ω Is the maximum amplitude of the frequency domain relation from wind speed to rotating speed, M T Is the maximum amplitude of the frequency domain relation of wind speed to torque;
s42, drawing a graph of the maximum amplitude along with the change of the controller parameters, longitudinally comparing the three obtained graphs, combining the stable feasible region of the wind driven generator, and selecting M ω Value of noGreater than 1 and M P 、M T The controller parameter critical value with the minimum value is used as the optimized value of the controller parameter;
s43, comparing the optimized parameter value of the controller with the selected non-optimized parameter value.
2. The optimization method of parameters of a wind turbine controller based on an optimal torque control method according to claim 1, wherein in step S1, the process of establishing frequency domain characteristic relations between wind speed and output power, wind speed and electromagnetic torque, and wind speed and rotational speed, respectively, comprises the steps of:
s11, deducing an intermediate variable according to a block diagram of the optimal torque control strategy
In the formula (9), P e Represents the output power, ω represents the rotational angular velocity of the wind turbine,is a partial guide symbol; t (T) e0 A steady state value representing electromagnetic torque; k (k) 1 The electromagnetic torque conversion coefficient is calculated by the formula (10):
in formula (10), p is the pole pair number of the generator, ψ f Is a permanent magnet flux linkage; g sω Is a transfer function of a rotating speed ring controller PI of the generator, and the specific expression is expressed by a formula (11):
k in (11) pω 、K iω The proportional parameter and the integral parameter of the controller PI are respectively; s is the complex frequency;
s12, based on L obtained in step S11 V And determining a frequency domain relation from wind speed to output power, rotating speed and torque of the fan.
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| CN103485978A (en) * | 2013-10-14 | 2014-01-01 | 东南大学 | Control method for compensating electromagnetic torque to realize quick and smooth tracking of maximum wind energy |
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| CN103485978A (en) * | 2013-10-14 | 2014-01-01 | 东南大学 | Control method for compensating electromagnetic torque to realize quick and smooth tracking of maximum wind energy |
| CN110361963A (en) * | 2019-06-10 | 2019-10-22 | 岭南师范学院 | A kind of permanent magnetism blower PI parameter optimization method and device |
| CN112283026A (en) * | 2020-11-05 | 2021-01-29 | 华能新能源上海发电有限公司 | Dynamic torque control method based on air density tracking optimal modal gain |
| CN113110024A (en) * | 2021-04-08 | 2021-07-13 | 扬州大学 | Wind turbine blade vibration controller design method based on elliptical focal radius improved gull algorithm |
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| 变速恒频双馈风力发电机的最优功率控制;姚兴佳;韩嵩;赵希梅;郭庆鼎;;电气技术(第08期);全文 * |
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