CN101793235A - Maximum power tracking type wind power generation device with energy predicting function and method thereof - Google Patents

Maximum power tracking type wind power generation device with energy predicting function and method thereof Download PDF

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Publication number
CN101793235A
CN101793235A CN201010147166A CN201010147166A CN101793235A CN 101793235 A CN101793235 A CN 101793235A CN 201010147166 A CN201010147166 A CN 201010147166A CN 201010147166 A CN201010147166 A CN 201010147166A CN 101793235 A CN101793235 A CN 101793235A
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speed
module
low
magnet synchronous
synchronous generator
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CN101793235B (en
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赵克
孙力
杜金明
吴凤江
孙伟
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02E10/72—Wind turbines with rotation axis in wind direction

Abstract

The invention discloses a maximum power tracking type wind power generation device with an energy predicting function and a method thereof, which belong to the field of wind power generation energy conversion, and solve the problems that a low-power wind power generation device and a power generation method delay system control and cannot predict and control the charging current of a storage battery. The device comprises a blade, a low-speed permanent magnet synchronous generator, a PWM rectification charging power module, an electric energy storage module, a main controller module, a current detection module, a busbar voltage detection module, a mechanism brake, a brake signal module, an off-course signal generating module, a generator rotating speed detection module, a wind speed and wind direction difference receiving module, an off-course step motor and an anemoclinograph. The power generation method of the device comprises the following steps of: adjusting the blade according to wind speed signals; controlling the low-speed permanent magnet synchronous generator to realize the tracking of the maximum power; and controlling the PWM rectification charging power module to realize the output of unit power factors of the low-speed permanent magnet synchronous generator. The device and the method are used for wind power generation.

Description

Maximal power tracing type wind generating unit and method with energy predicting function
Technical field
The present invention relates to a kind of maximal power tracing type wind generating unit and method, belong to from net type wind-power electricity generation power conversion field with energy predicting function.
Background technique
The electricity-generating method of the small-power wind generating unit that extensively adopts all adopts the method for not controlling rectification to charge to storage battery at present.The subject matter that exists shows: the generator starting wind speed is lower, system's charging performance instability, and only during greater than the VDC of storage battery, just can show charge characteristic at the line voltage peak of generator, under lower wind speed, storage battery can't charge; There is simultaneously the charging current distortion again, the defective that harmonic content is higher.
On the other hand, the electricity-generating method that existing small-power wind generating unit adopts, all adopting has tail vane work, and when the mechanical structure rotary inertia was big, it can't realize at all that to lower wind speed maximum wind energy catches; When wind speed and storage battery have been full of electricity greatly, be prone to the phenomenon that mechanical structure is impaired and the storage battery overvoltage is damaged again.System shows as: frequent impact and anticlimax load produce vibration.
Because the mechanical inertia of existing small-power wind generating unit exists, the feasible method that adopts all lags behind for the control of system, can't realize prediction and control to the charge in batteries electric current.
Summary of the invention
The purpose of this invention is to provide a kind of maximal power tracing type wind generating unit and method with energy predicting function, it has solved in existing small-power wind generating unit and the electricity-generating method, because to the control hysteresis of system, and can't realize problem to the prediction and the control of charge in batteries electric current.
The inventive system comprises blade, low-speed permanent-magnet synchronous generator, PWM rectification charging power model, power storage module, main controller module, current detection module, busbar voltage testing module, mechanical brake, brake signal module, off-course signal generation module, generator speed testing module, wind speed and direction differential received module, driftage stepper motor and anemoclinograph; Wherein:
Blade is connected with the low-speed permanent-magnet synchronous generator is coaxial, after the voltage and current that adopts PWM rectification charging power model that the low-speed permanent-magnet synchronous generator is exported carries out rectification, exports to the power storage module and charges;
Current detection module is gathered the electric current of two phase windings in the low-speed permanent-magnet synchronous generator and the charging current of power storage module, and the current signal that collects is exported to main controller module;
The busbar voltage testing module is gathered the inlet highway voltage of power storage module, and the bus voltage signal that collects is exported to main controller module;
The generator speed testing module is gathered the rotating speed of low-speed permanent-magnet synchronous generator, and the tach signal that collects is exported to main controller module;
Anemoclinograph is gathered ambient wind velocity and wind direction signals, and the wind speed and direction signal that collects is sent to wind speed and direction differential received module, and the wind speed and direction signal after wind speed and direction differential received module will be handled is again exported to main controller module;
The off-course signal of main controller module is exported to off-course signal generation module, by off-course signal generation module controls driftage stepper motor to blade towards controlling;
The brake signal of main controller module is exported to the brake signal module, by brake signal module controls mechanical brake the input shaft of low-speed permanent-magnet synchronous generator is braked again.
The process of the electricity-generating method based on said apparatus of the present invention is:
The voltage signal that step 1, main controller module collect according to the busbar voltage testing module judges whether the power storage module has been full of electricity, if, execution in step eight; If not, execution in step two;
Step 2: main controller module is compared the wind velocity signal that receives with the maximum wind speed of the blade that pre-sets, when described wind velocity signal is lower than maximum wind speed, and execution in step three;
When described wind velocity signal equals maximum wind speed, execution in step four;
When described wind velocity signal is higher than maximum wind speed, execution in step five;
Step 3: main controller module sends off-course signal to off-course signal generation module according to the wind direction signals that receives, off-course signal generation module is sent stepper motor driftage control signal to the driftage stepper motor according to the off-course signal of input, by the rotation of driftage step motor control blade, the windward side of adjusting blade towards, carry out automatically to wind; Execution in step six then;
Step 4: main controller module sends off-course signal to off-course signal generation module according to the wind direction signals that receives, off-course signal generation module is sent stepper motor driftage control signal to the driftage stepper motor according to the off-course signal of input, by the rotation of driftage step motor control blade, the windward side of adjusting blade towards, carry out automatic crosswind; Execution in step six then;
Step 5: main controller module sends off-course signal to off-course signal generation module according to the wind direction signals that receives, off-course signal generation module is sent stepper motor driftage control signal to the driftage stepper motor according to the off-course signal of input, by the rotation of driftage step motor control blade, the windward side of adjusting blade is towards, execution degree crosswind; Execution in step six then;
Step 6: main controller module is predicted the prediction maximum (top) speed of low-speed permanent-magnet synchronous generator correspondence when prediction of output maximum machine power according to the wind speed and direction signal of input
Figure 789390DEST_PATH_IMAGE001
, and the actual speed of adjustment low-speed permanent-magnet synchronous generator is described prediction maximum (top) speed
Figure 464085DEST_PATH_IMAGE001
, realize the tracking of peak output; Execution in step seven then;
Step 7: the dutycycle coefficient that calculates the low-speed permanent-magnet synchronous generator
Figure 987471DEST_PATH_IMAGE002
, and then obtain the dutycycle of the three phase circuit in the threephase armature winding of low-speed permanent-magnet synchronous generator
Figure 417315DEST_PATH_IMAGE003
,
Figure 580312DEST_PATH_IMAGE004
,
Figure 121015DEST_PATH_IMAGE005
, basis again
Figure 702169DEST_PATH_IMAGE003
,
Figure 37335DEST_PATH_IMAGE004
,
Figure 766257DEST_PATH_IMAGE005
The break-make of three rectifier bridges realizes the output of the unity power factor of low-speed permanent-magnet synchronous generator in the control PWM rectification charging power model; And then execution in step one;
Step 8: main controller module sends braking instruction to the brake signal module, and brake signal module controls mechanical brake is to the input shaft braking of low-speed permanent-magnet synchronous generator, generation outage.
Advantage of the present invention is: the present invention has energy predicting and maximal power tracing function, and can realize the accurate unity power factor output of generator, has improved generating efficiency.The present invention adopts high performance main controller module, running by real-time monitoring generator, efficiently solve existing wind-power electricity generation control of product strategy simple, start the wind speed height, Security is bad and problem such as magnetic tape trailer rudder operation, has realized between wind speed and energy the most reasonably load mode.The present invention adopts energy predicting control in conjunction with disturbance control method, in getting the energy process, has realized the reasonable utilization of wind energy, has realized the sinusoidal output of dynamo current, has reduced the harmonic wave and the loss of generator itself, has improved power factor and efficient.The present invention adopts yaw system and wind speed and direction to detect, and the mechanical wind energy that has solved no tail vane operation is followed the trail of problem, and rationally perfect complex logic to wind, the crosswind of going off course has been pursued efficient and functional integrity.Electricity generating device of the present invention and electricity-generating method can effectively guarantee stable operation and safety, can really realize unmanned, have represented the bleeding edge of present small wind-driven generator, have remarkable economical and social benefit.
Description of drawings
Fig. 1 is the principle schematic of apparatus of the present invention; Fig. 2 is the theory diagram of PWM rectification charging power model; Fig. 3 is the flow chart of the tracing process of peak output output of realization low-speed permanent-magnet synchronous generator and optimum load; Fig. 4 is the maximum output mechanical power and prediction maximum (top) speed of low-speed permanent-magnet synchronous generator
Figure 32022DEST_PATH_IMAGE001
Performance diagram, the represented wind speed of dotted line among the figure v 1＜ v 2＜ v 3＜ v 4＜ v 5Fig. 5 is the prediction maximum (top) speed of prediction low-speed permanent-magnet synchronous generator in the mode of execution two
Figure 529999DEST_PATH_IMAGE001
The time, the mountain-climbing search method of employing is in conjunction with the principle schematic of look-up table; Fig. 6 is the prediction maximum (top) speed of prediction low-speed permanent-magnet synchronous generator in the mode of execution two The time, the plotted curve that adopts the mountain-climbing search method to obtain, y coordinate is the prediction of output maximum machine power of low-speed permanent-magnet synchronous generator 2 among the figure, abscissa is the prediction maximum (top) speed of low-speed permanent-magnet synchronous generator 2
Figure 189968DEST_PATH_IMAGE001
Fig. 7 is the prediction maximum (top) speed that adopts interpolation estimation low-speed permanent-magnet synchronous generator in the mode of execution two
Figure 259424DEST_PATH_IMAGE001
The plotted curve that obtains, y coordinate is the prediction maximum (top) speed of low-speed permanent-magnet synchronous generator 2 among the figure
Figure 611908DEST_PATH_IMAGE001
, abscissa is that anemoclinograph 14 is gathered the ambient wind velocity that obtains; The curve synoptic diagram that Fig. 8 calculates for the wind energy that can catch the low-speed permanent-magnet synchronous generator in the mode of execution two, the energy that y coordinate is caught for the low-speed permanent-magnet synchronous generator among the figure, abscissa are the time; Fig. 9 is the equivalent model figure of low-speed permanent-magnet synchronous generator and equivalent load thereof; Figure 10 is the workflow diagram of PWM rectification charging power model 3 in the mode of execution two; Figure 11 is the flow chart of the inventive method.
Embodiment
Embodiment one: below in conjunction with Fig. 1 present embodiment is described, present embodiment comprises blade 1, low-speed permanent-magnet synchronous generator 2, PWM rectification charging power model 3, power storage module 4, main controller module 5, current detection module 6, busbar voltage testing module 7, mechanical brake 8, brake signal module 9, off-course signal generation module 10, generator speed testing module 11, wind speed and direction differential received module 12, driftage stepper motor 13 and anemoclinograph 14; Wherein:
Blade 1 and 2 coaxial connections of low-speed permanent-magnet synchronous generator after the voltage and current that adopts PWM rectification charging power model 3 that low-speed permanent-magnet synchronous generator 2 is exported carries out rectification, are exported to power storage module 4 and are charged;
Current detection module 6 is gathered the electric current of two phase windings in the low-speed permanent-magnet synchronous generator 2 and the charging current of power storage module 4, and the current signal that collects is exported to main controller module 5;
Busbar voltage testing module 7 is gathered the inlet highway voltage of power storage module 4, and the bus voltage signal that collects is exported to main controller module 5;
Generator speed testing module 11 is gathered the rotating speed of low-speed permanent-magnet synchronous generator 2, and the tach signal that collects is exported to main controller module 5;
Anemoclinograph 14 is gathered ambient wind velocity and wind direction signals, and the wind speed and direction signal that collects is sent to wind speed and direction differential received module 12, and the wind speed and direction signal after wind speed and direction differential received module 12 will be handled is again exported to main controller module 5;
The off-course signal of main controller module 5 is exported to off-course signal generation module 10, by 13 pairs of blades 1 of off-course signal generation module 10 control driftage stepper motors towards controlling;
The brake signal of main controller module 5 is exported to brake signal module 9, is braked by the input shaft of 8 pairs of low-speed permanent-magnet synchronous generators 2 of brake signal module 9 control mechanical brakes again.
Can also comprise mode of operation selector button 15, fault indication device 16 and LCD MODULE 17 in the present embodiment, the signal output part of mode of operation selector button 15 connects the button signal input end of main controller module 5; The signal input part of fault indication device 16 connects the trouble signal output terminal of main controller module 5; The signal input part of LCD MODULE 17 connects the demonstration signal output part of main controller module 5.
Mode of operation selector button 15 mainly contains and shows switching function, go off course switching function, manually forward running and manual functions such as antiport function, the switching of off-load resistance automatically and manually herein; Fault indication device 16 is used to point out excess current and short trouble state; LCD MODULE 17 mainly shows busbar voltage, the DC charging electric current of power storage module 4, ambient wind velocity, wind direction and the state whether low-speed permanent-magnet synchronous generator 2 braked etc.
Working procedure: the wind energy that comes from blade 1 sends low-speed permanent-magnet synchronous generator 2 to by gearing, and low-speed permanent-magnet synchronous generator 2 utilizes the power storage module 4 of 3 pairs of terminals of PWM rectification charging power model to charge.The data-signal that current detection module 6, busbar voltage testing module 7, generator speed testing module 11 anemoclinographs 14 detect is respectively control procedure feedback parameter is provided.Main controller module 5 is the core of control, control to main controller module 5 can be selected by mode of operation selector button 15 modes of carrying out, according to the thought generation trigger signal of the three-phase current signal that detects and calculate acquisition according to Cycle Control, PWM rectification charging power model 3 is controlled, realized the unity power factor output of low-speed permanent-magnet synchronous generator 2.LCD MODULE 17 links to each other with main controller module 5 respectively with fault indication device 16, and is placed on the same panel, is used for showing and indicating fault.
Embodiment two: present embodiment is described below in conjunction with Fig. 1 to Figure 11, the electricity-generating method of present embodiment realizes that based on following apparatus this device comprises blade 1, low-speed permanent-magnet synchronous generator 2, PWM rectification charging power model 3, power storage module 4, main controller module 5, current detection module 6, busbar voltage testing module 7, mechanical brake 8, brake signal module 9, off-course signal generation module 10, generator speed testing module 11, wind speed and direction differential received module 12, driftage stepper motor 13 and anemoclinograph 14;
The process of described electricity-generating method is:
The voltage signal that step 1, main controller module 5 collect according to busbar voltage testing module 7 judges whether power storage module 4 has been full of electricity, if, execution in step eight; If not, execution in step two;
Step 2: main controller module 5 is compared the wind velocity signal that receives with the maximum wind speed of the blade 1 that pre-sets, when described wind velocity signal is lower than maximum wind speed, and execution in step three;
When described wind velocity signal equals maximum wind speed, execution in step four;
When described wind velocity signal is higher than maximum wind speed, execution in step five;
Step 3: main controller module 5 sends off-course signal to off-course signal generation module 10 according to the wind direction signals that receives, off-course signal generation module 10 is sent stepper motor driftage control signal to driftage stepper motor 13 according to the off-course signal of input, by 1 rotation of driftage stepper motor 13 control blades, the windward side of adjusting blade 1 towards, carry out automatically to wind; Execution in step six then;
Step 4: main controller module 5 sends off-course signal to off-course signal generation module 10 according to the wind direction signals that receives, off-course signal generation module 10 is sent stepper motor driftage control signal to driftage stepper motor 13 according to the off-course signal of input, by 1 rotation of driftage stepper motor 13 control blades, the windward side of adjusting blade 1 towards, carry out automatic crosswind; Execution in step six then;
Step 5: main controller module 5 sends off-course signal to off-course signal generation module 10 according to the wind direction signals that receives, off-course signal generation module 10 is sent stepper motor driftage control signal to driftage stepper motor 13 according to the off-course signal of input, by 1 rotation of driftage stepper motor 13 control blades, the windward side of adjusting blade 1 towards, carry out 90 degree crosswind; Execution in step six then;
Step 6: main controller module 5 is predicted the prediction maximum (top) speed of low-speed permanent-magnet synchronous generator 2 correspondence when prediction of output maximum machine power according to the wind speed and direction signal of input
Figure 554456DEST_PATH_IMAGE001
, and the actual speed of adjustment low-speed permanent-magnet synchronous generator 2 is described prediction maximum (top) speed
Figure 930074DEST_PATH_IMAGE001
, realize the tracking of peak output; Execution in step seven then;
Step 7: the dutycycle coefficient that calculates low-speed permanent-magnet synchronous generator 2
Figure 350691DEST_PATH_IMAGE002
, and then obtain the dutycycle of the three phase circuit in the threephase armature winding of low-speed permanent-magnet synchronous generator 2
Figure 823260DEST_PATH_IMAGE003
,
Figure 858081DEST_PATH_IMAGE004
,
Figure 783312DEST_PATH_IMAGE005
, basis again
Figure 945303DEST_PATH_IMAGE003
, ,
Figure 556730DEST_PATH_IMAGE005
The break-make of three rectifier bridges realizes the output of the unity power factor of low-speed permanent-magnet synchronous generator 2 in the control PWM rectification charging power model 3; And then execution in step one;
Step 8: main controller module 5 sends braking instruction to brake signal module 9, the input shaft braking of 8 pairs of low-speed permanent-magnet synchronous generators 2 of brake signal module 9 control mechanical brakes, generation outage.
The prediction maximum (top) speed of prediction low-speed permanent-magnet synchronous generator 2 correspondence when prediction of output maximum machine power in the described step 6
Figure 156207DEST_PATH_IMAGE001
And the method that realizes the tracking of peak output is: main controller module 5 is predicted the peak output of 2 wind energies that can catch of low-speed permanent-magnet synchronous generator according to the wind speed and direction signal of input, obtain the prediction peak output, and according to the prediction of output maximum machine power of described prediction peak output prediction low-speed permanent-magnet synchronous generator 2 and the prediction maximum (top) speed of correspondence thereof
Figure 918627DEST_PATH_IMAGE001
, actual speed signal and described prediction maximum (top) speed that main controller module 5 collects generator speed testing module 11 Compare, adjust the equivalent load at given low-speed permanent-magnet synchronous generator 2 two ends then
Figure 680096DEST_PATH_IMAGE006
, change the equivalent load that is added in low-speed permanent-magnet synchronous generator 2 two ends by PWM rectification charging power model 3
Figure 579918DEST_PATH_IMAGE006
, and then the actual speed of adjustment low-speed permanent-magnet synchronous generator 2, make the actual speed of low-speed permanent-magnet synchronous generator 2 equal to predict maximum (top) speed
Figure 146029DEST_PATH_IMAGE007
, and then reach the output of maximum machine power, realize the tracking of peak output.
Calculate the dutycycle coefficient of low-speed permanent-magnet synchronous generator 2 in the described step 7 Method be: equal to predict maximum (top) speed according to the actual speed that makes low-speed permanent-magnet synchronous generator 2 in the step 6 The time, the equivalent load at given low-speed permanent-magnet synchronous generator 2 two ends , by formula
Figure 424247DEST_PATH_IMAGE008
With
Figure 518104DEST_PATH_IMAGE009
Calculate the dutycycle coefficient
Figure 315159DEST_PATH_IMAGE002
, wherein Be the synthetic equivalent voltage vector of three-phase voltage source of low-speed permanent-magnet synchronous generator 2 outputs,
Figure 284438DEST_PATH_IMAGE011
The charging current of the power storage module 4 that collects for current detection module 6, Be the equivalent resistance of low-speed permanent-magnet synchronous generator 2,
Figure 263075DEST_PATH_IMAGE013
Be the equivalent inductance of low-speed permanent-magnet synchronous generator 2,
Figure 296891DEST_PATH_IMAGE014
The busbar voltage of power storage module 4 inputs of gathering for busbar voltage testing module 7;
The dutycycle of the three phase circuit in the threephase armature winding in the described step 7 in the low-speed permanent-magnet synchronous generator 2
Figure 742915DEST_PATH_IMAGE003
,
Figure 60633DEST_PATH_IMAGE004
,
Figure 199490DEST_PATH_IMAGE005
Computational methods be: according to formula
Figure 720602DEST_PATH_IMAGE015
, obtain the dutycycle of the three phase circuit in the threephase armature winding in the low-speed permanent-magnet synchronous generator 2 ,
Figure 955591DEST_PATH_IMAGE004
,
Figure 452300DEST_PATH_IMAGE005
, in the formula ,
Figure 514114DEST_PATH_IMAGE017
,
Figure 353894DEST_PATH_IMAGE018
Be respectively three current values in the threephase armature winding of low-speed permanent-magnet synchronous generator 2.
Three current values in the threephase armature winding of described low-speed permanent-magnet synchronous generator 2
Figure 21505DEST_PATH_IMAGE016
,
Figure 313946DEST_PATH_IMAGE017
, Preparation method be: obtain the current value in the two-phase armature winding of low-speed permanent-magnet synchronous generators 2 by current detection module 6 collection
Figure 803013DEST_PATH_IMAGE016
,
Figure 454574DEST_PATH_IMAGE017
, according to restriction of current by the current value in the two-phase armature winding
Figure 686841DEST_PATH_IMAGE016
,
Figure 82051DEST_PATH_IMAGE017
Calculate the current value in the third phase armature winding
Figure 630844DEST_PATH_IMAGE018
Advance below in conjunction with accompanying drawing working procedure be elaborated:
The analysis of wind energy:
Wind can drive blade 1 rotation when the blade 1, and wind speed has certain landing simultaneously, but can not reduce to zero, so low-speed permanent-magnet synchronous generator 2 can only partly utilize wind energy, and this proportion of utilization is called power coefficient, uses
Figure 656568DEST_PATH_IMAGE019
Expression, so the mechanical output of low-speed permanent-magnet synchronous generator 2 wind energy of being caught is:
Figure 923602DEST_PATH_IMAGE020
(1)
In the formula
Figure 43873DEST_PATH_IMAGE012
Be the radius of blade 1,
Figure 712752DEST_PATH_IMAGE021
The wind speed that collects for anemoclinograph 14; The wind energy that low-speed permanent-magnet synchronous generator 2 is caught drives its rotor rotation with the form of power, when rotating speed is
Figure 971695DEST_PATH_IMAGE022
The time, output mechanical power For:
Figure 400719DEST_PATH_IMAGE024
(2)
In the formula
Figure 111055DEST_PATH_IMAGE025
Be torque, under the steady-state operation state,
Figure 275320DEST_PATH_IMAGE026
Under a certain wind speed, the output mechanical power of low-speed permanent-magnet synchronous generator 2 changes with the difference of rotating speed, the rotating speed that a best is wherein arranged, under this rotating speed, the output mechanical power of low-speed permanent-magnet synchronous generator 2 is maximum, it and respective relationships are best tip speed ratio relations, under different wind speed, low-speed permanent-magnet synchronous generator 2 all has the rotating speed an of the best to make its output maximum machine power, these maximum machine power points are coupled together the output maximum machine power curve that can obtain a low-speed permanent-magnet synchronous generator 2, it is the best power Load line, be in any point on this curve, its rotating speed and respective relationships are best tip speed ratio relation.Therefore, the rotating speed of control low-speed permanent-magnet synchronous generator 2 just can be realized peak output control to the optimum speed variation under different wind speed.
The detection of wind speed and direction, maximal wind-energy capture and protection:
Be used to realize that the implement device of the inventive method is designed to not have the tail vane form.14 pairs of wind speed and directions of anemoclinograph detect, and the wind speed actual frequency is sent to main control chip, and data length is five bytes, and carry out corresponding parity check.
When wind speed is lower than the born maximum wind speed that systemic presupposition puts, realize automatically to the wind function by driftage stepper motor 13 control blades 1; Surpass when can bear maximum wind speed or power storage module 4 overvoltage when wind speed is higher, revolve immediately by driftage stepper motor 13 control blades 1 and turn 90 degrees, realize automatic crosswind function.Simultaneously, driftage stepper motor 13 is provided with memory function.Because leader cable can not promptly adopt no slip ring structure around tower bar rotation, when folk prescription when rotation 1080 is spent, must make and go off course stepper motor 13 inverted runnings and untie the mooring rope.In the middle of the operation, direction deflection is balanced as far as possible, and stepper motor 13 folk prescriptions of promptly avoiding going off course are to rotation.The specific power of driftage stepper motor 13 is big, and the driftage angle can be gathered the data and the motor actual angle that obtain by anemoclinograph 14 and be compared, and can realize according to the corresponding pulses number is sent in the requirement of wind and crosswind.
Maximal power tracing and wind energy prediction:
Among Fig. 4, solid line is the maximum output mechanical power curve of low-speed permanent-magnet synchronous generator 2, change the equivalent load that is added in low-speed permanent-magnet synchronous generator 2 two ends by control to PWM rectification charging power model 3, just can change the rotating speed of generator, make its rotating speed that reaches the maximum power point place, thereby realize the tracking of peak output.
The given flow process according to Fig. 3 of equivalent load realizes optimal load.The wind velocity signal major decision of gathering the initial adjustment of PWM rectification charging power model 3, according to the relation between wind energy and the wind speed, loading characteristic reasonable in design cooperates perturbation method simultaneously, in the hope of obtaining higher charging performance.In little scope, employing load disturbance method finds the optimum charging control mode to power storage module 4.
When 2 operations of low-speed permanent-magnet synchronous generator, system adopts the mountain-climbing search method progressively to search the optimum operation rotating speed through the calculating meeting according to the wind speed that records
Figure 516946DEST_PATH_IMAGE001
, this process realizes in main controller module 5.This search procedure need expend certain hour, in order to save search time, Search Results can be stored in the form, when detecting this wind speed once more, directly draws the best equivalence load by tabling look-up, thereby saves search time.On this basis, again look-up table and mountain-climbing search method are combined, given play to two kinds of methods advantage separately.As shown in Figure 5.
Control flow be mainly and table look-up, climb the mountain the search and write table, in conjunction with Fig. 3, as follows to specifying of each step among the figure:
Steps A: the supposition wind speed can normal power generation in V0 ~ V1 scope, will (V0, V1) interval is equally divided into n part, so each little wind speed interval corresponding (
Figure 995332DEST_PATH_IMAGE027
,
Figure 373223DEST_PATH_IMAGE028
) two numbers, Be optimum speed,
Figure 624262DEST_PATH_IMAGE028
Optimum load during for stabilization of speed.
Step B: at initial operating stage, the wind speed that does not record in the optimum operation rotating speed form
Figure 968656DEST_PATH_IMAGE029
Following corresponding optimum operation rotating speed is 0 through the value of searching for the back gained of tabling look-up.Utilize
Figure 404316DEST_PATH_IMAGE029
Contiguous 2 are carried out linear interpolation and estimate roughly
Figure 910384DEST_PATH_IMAGE029
The optimum operation rotating speed at place, then through mountain-climbing search, as shown in Figure 7, find optimum speed after, this value is write in the described form.
Step C: in order to realize disturbance to low-speed permanent-magnet synchronous generator 2 rotating speeds, need to change the equivalent load of its rear end, the scope of load variations is big more, disturbance to generator speed is also obvious more, for making low-speed permanent-magnet synchronous generator 2 in the fast-changing security of system that guarantees simultaneously of rotating speed, need preset the maximum load value that a power device can bear, when rotating speed is
Figure 313552DEST_PATH_IMAGE030
The time, then phase voltage is
Figure 196058DEST_PATH_IMAGE031
, so:
Figure 548542DEST_PATH_IMAGE032
(3)
Wherein
Figure 163194DEST_PATH_IMAGE006
Be equivalent load, The maximum current that can bear for power device.
Step D: energy calculation is the key of mountain-climbing search, at first will select a suitable disturbance time
Figure 287325DEST_PATH_IMAGE034
, calculate
Figure 681266DEST_PATH_IMAGE034
The wind energy W that inner blower is caught specifically calculates according to formula (three).Therefrom also as can be seen, the calculating of the wind energy of catching mainly comprises two-part: a part is the variable quantity of mechanical energy, can pass through
Figure 794715DEST_PATH_IMAGE034
Initial speed and final revolution speed calculating obtain in time; Another part is the calculating of electric energy, by the measurements and calculations to dc voltage and electric current.Because this process realizes by main controller module 5, therefore need carry out discretization and handle, discrete method can be got the formula of electric energy as shown in Figure 8 by Fig. 8:
Figure 657629DEST_PATH_IMAGE035
。(4)
Step e: obtain optimum speed when tabling look-up
Figure 881937DEST_PATH_IMAGE027
After, by applying a suitable load rotating speed is arrived with the shortest time
Figure 395964DEST_PATH_IMAGE027
After need to keep this rotating speed, if the method that adopts minimum and maximum load to replace realizes that the rotating speed ring control that stagnates can well be controlled at rotating speed
Figure 680315DEST_PATH_IMAGE027
Near, but because the saltus step of load, system is in the concussion state all the time, when wind speed is
Figure 827262DEST_PATH_IMAGE036
, generator speed is
Figure 792944DEST_PATH_IMAGE027
, only when satisfying formula (five), just can make generator speed stable.
Figure 974527DEST_PATH_IMAGE037
(5)
Therefore reach at low-speed permanent-magnet synchronous generator 2 rotating speeds
Figure 429779DEST_PATH_IMAGE027
The time, need to seek a suitable load and make stabilization of speed, but because the wind energy of catching is non-linear with the relation of generator speed, and equivalent load is difficult to accurate Calculation, so adopt among the present invention and estimate then that earlier progressively disturbance is in addition accurate.
Because wind speed and rotating speed can not operate on the optimal load line before stable operation, according to different wind speed momentary value, can predict the energy of fitful wind storage, control according to the energy curve direction, seek stable operating point fast.
The unity power factor control of low-speed permanent-magnet synchronous generator:
Three-phase PFC based on Cycle Control, topological structure and Three-Phase PWM Rectifier are basic identical, and this control mode does not need to detect the AC side phase place, not needing to carry out decoupling zero control just can realize moving near unity power factor, can adapt to the fluctuation of ac frequency, thereby be fit to be applied in the wind-power generating system.
The controller of realizing the digitizing Cycle Control can adopt TMS320F2812DSP as main control chip, power device adopts IPM, six road PWM drive signals process light-coupled isolation rear driving switching tube by DSP output adopts Hall-type electric current, voltage transducer to gather electric current, voltage signal.
For low-speed permanent-magnet synchronous generator 2 following formula is arranged:
Figure DEST_PATH_IMAGE038
(6)
Figure 516553DEST_PATH_IMAGE039
(7)
In the formula
Figure 82663DEST_PATH_IMAGE011
Be the three phase circuit resultant vector, be the charging current of power storage module 4, the dutycycle vector
Figure 56435DEST_PATH_IMAGE040
Be a controlled amounts, order
Figure 682589DEST_PATH_IMAGE040
Satisfy following formula:
(8)
To obtain in formula (seven) and (eight) substitution formula (six):
Figure 360881DEST_PATH_IMAGE042
(9)
Now suppose:
Figure 517055DEST_PATH_IMAGE009
(10)
Then
Figure 251793DEST_PATH_IMAGE043
(11)
Figure 860629DEST_PATH_IMAGE006
Be equivalent load, then the equivalent model of system is as shown in Figure 9:
Can obtain current expression so:
(12)
The vector correlation of dutycycle and electric current for the ease of the software design, can be translated into following formula:
Figure 966174DEST_PATH_IMAGE015
(13)
Because usually
Figure 934130DEST_PATH_IMAGE045
Can be far smaller than
Figure 30262DEST_PATH_IMAGE046
So, Can show " pure resistance " characteristic, then
Figure 810317DEST_PATH_IMAGE011
With Cophasing, thus realized unity power factor output.And by regulating
Figure 453973DEST_PATH_IMAGE002
Can directly regulate the size of equiva lent impedance, thereby regulate electric current
Figure 969268DEST_PATH_IMAGE011
Size.Also can predict and then adjust input current according to the real time status of wind energy Amplitude.
Because formula (13) implements also than being easier to by the DSP program, only need control the dutycycle vector according to current sampling signal
Figure 201984DEST_PATH_IMAGE040
But current sampling data is to change the numerical value that obtains after these links through over-current sensor, sampling resistor, AD, need do some processing.
Among Fig. 2, the ac-side current of low-speed permanent-magnet synchronous generator 2 is converted to digital quantity through the AD conversion with current signal behind over-current sensor, and the Hall-type current sensor is scaled with electric current, supposes that its no-load voltage ratio is K, and sampling resistor is R, and A phase current peak value is
Figure 7129DEST_PATH_IMAGE048
, the analog amount of then importing AD is , the AD input analog amount of TMS320F2812DSP is 0 ~ 3V, and the digital quantity after the conversion is 0 ~ 4096, and the no-load voltage ratio of AD is so
Figure 87266DEST_PATH_IMAGE050
, the analog amount that AD changes out multiply by the dutycycle coefficient
Figure 567926DEST_PATH_IMAGE002
After, its value of comparand register that writes DSP inside is:
Figure 63629DEST_PATH_IMAGE051
(14)
Formula (14) is final governing equation, and modulation ratio is:
Figure 655148DEST_PATH_IMAGE052
(15)
Wherein
Figure 801964DEST_PATH_IMAGE053
Be the period register of EV unit among the DSP,
Figure 453525DEST_PATH_IMAGE054
For phase voltage first-harmonic effective value according to formula:
Figure 233262DEST_PATH_IMAGE055
(16)
To can obtain in formula (15) the substitution formula (16) so:
Figure 566155DEST_PATH_IMAGE056
(17)
Figure 380527DEST_PATH_IMAGE057
Be the equivalent load of A phase, other two-phase roughly the same.Can find that after obtaining optimum load impedance, the parameter in the formula (17) has only
Figure 202989DEST_PATH_IMAGE002
Given by software, other parameters all are the hardware parameter decisions.Thereby, in program, can be by right Adjusting, realize equivalent resistance arbitrarily within the specific limits.Passed through after the analysis of parameter, carried out the software design, the method for digitizing Cycle Control is adopted in the power output of PWM rectification charging power model 3, and idiographic flow is referring to Figure 10.After finding the peak output operating point, promptly found the maximum equivalent load.Because
Figure 855874DEST_PATH_IMAGE058
, can substitute load value with the dutycycle coefficient.Because designed control strategy is
Figure 462435DEST_PATH_IMAGE059
, need control dutycycle according to current sampling signal.The AD input analog amount of TMS320F2812DSP is 0 ~ 3V, and the digital quantity after the conversion is 0 ~ 4096, and the no-load voltage ratio of AD is so
Figure 455799DEST_PATH_IMAGE050
, the analog amount that AD changes out multiply by the dutycycle coefficient
Figure 210129DEST_PATH_IMAGE002
After, its value of comparand register that writes DSP inside is
Figure 399670DEST_PATH_IMAGE060
Realize equivalent resistance arbitrarily within the specific limits.Promptly can regulate the switching tube of every phase according to the load value of peak output output.Because the control formula adopts
Figure 923056DEST_PATH_IMAGE061
Ignoring under the prerequisite of inductance value,
Figure 87321DEST_PATH_IMAGE047
With Linear, also promptly realized the unity power factor operation.
The operation of maximal power tracing type wind generating unit:
Main controller module 5 comprises central processing unit (CPU) dsp chip TMS320F2812, power conversion chip TPS767D318, serial interface circuit, IPM protective circuit, rotary switch signal input isolation circuit, and fault indicator relay group.
Detection to electric current among the present invention is mainly used in the instantaneous perturbation process, to the dutycycle coefficient
Figure 807332DEST_PATH_IMAGE002
Adjusting realize the optimization of charging performance.The main controller module 5 main coordination controls that realize Electric actuator, and the monitoring of various states are presented at running state and fault state on the LCD Display simultaneously.Under the wind speed of 2m/s, system is played machine handle.At first, carry out mechanical energy according to wind direction information and follow the tracks of, under the condition of can receptiblely facining the wind, the energy that calculating may provide, and carry out the control of corresponding dutycycle coefficient.Then, the disturbance that the dutycycle coefficient carries out is among a small circle controlled, detected the amplitude of charging current, and the dutycycle coefficient is stabilized on the maximum value.The present invention is a kind of energy conversion device of wind-power electricity generation efficiently, and it has solved existing, problem such as Wind Power Utilization efficient low and generator power factor low uncontrollable from net type wind-power electricity generation energy output.

Claims (5)

1. maximal power tracing type wind generating unit with energy predicting function, it is characterized in that: it comprises blade (1), low-speed permanent-magnet synchronous generator (2), PWM rectification charging power model (3), power storage module (4), main controller module (5), current detection module (6), busbar voltage testing module (7), mechanical brake (8), brake signal module (9), off-course signal generation module (10), generator speed testing module (11), wind speed and direction differential received module (12), driftage stepper motor (13) and anemoclinograph (14); Wherein:
Blade (1) and coaxial connection of low-speed permanent-magnet synchronous generator (2) after the voltage and current that adopts PWM rectification charging power model (3) that low-speed permanent-magnet synchronous generator (2) is exported carries out rectification, are exported to power storage module (4) and are charged;
Current detection module (6) is gathered the electric current of two phase windings in the low-speed permanent-magnet synchronous generator (2) and the charging current of power storage module (4), and the current signal that collects is exported to main controller module (5);
Busbar voltage testing module (7) is gathered the inlet highway voltage of power storage module (4), and the bus voltage signal that collects is exported to main controller module (5);
Generator speed testing module (11) is gathered the rotating speed of low-speed permanent-magnet synchronous generator (2), and the tach signal that collects is exported to main controller module (5);
Anemoclinograph (14) is gathered ambient wind velocity and wind direction signals, and the wind speed and direction signal that collects sent to wind speed and direction differential received module (12), the wind speed and direction signal after wind speed and direction differential received module (12) will be handled is again exported to main controller module (5);
The off-course signal of main controller module (5) is exported to off-course signal generation module (10), by off-course signal generation module (10) control driftage stepper motor (13) to blade (1) towards controlling;
The brake signal of main controller module (5) is exported to brake signal module (9), by brake signal module (9) control mechanical brake (8) input shaft of low-speed permanent-magnet synchronous generator (2) is braked again.
2. one kind based on the described maximal power tracing type wind power generation method with energy predicting function with maximal power tracing type wind generating unit of energy predicting function of claim 1, it is characterized in that:
The process of described electricity-generating method is:
The voltage signal that step 1, main controller module (5) collect according to busbar voltage testing module (7) judges whether power storage module (4) has been full of electricity, if, execution in step eight; If not, execution in step two;
Step 2: main controller module (5) is compared the maximum wind speed of wind velocity signal that receives and the blade that pre-sets (1), when described wind velocity signal is lower than maximum wind speed, and execution in step three;
When described wind velocity signal equals maximum wind speed, execution in step four;
When described wind velocity signal is higher than maximum wind speed, execution in step five;
Step 3: main controller module (5) sends off-course signal to off-course signal generation module (10) according to the wind direction signals that receives, off-course signal generation module (10) is sent stepper motor driftage control signal to driftage stepper motor (13) according to the off-course signal of input, by driftage stepper motor (13) control blade (1) rotation, the windward side of adjusting blade (1) towards, carry out automatically to wind; Execution in step six then;
Step 4: main controller module (5) sends off-course signal to off-course signal generation module (10) according to the wind direction signals that receives, off-course signal generation module (10) is sent stepper motor driftage control signal to driftage stepper motor (13) according to the off-course signal of input, by driftage stepper motor (13) control blade (1) rotation, the windward side of adjusting blade (1) towards, carry out automatic crosswind; Execution in step six then;
Step 5: main controller module (5) sends off-course signal to off-course signal generation module (10) according to the wind direction signals that receives, off-course signal generation module (10) is sent stepper motor driftage control signal to driftage stepper motor (13) according to the off-course signal of input, by driftage stepper motor (13) control blade (1) rotation, the windward side of adjusting blade (1) towards, carry out 90 degree crosswind; Execution in step six then;
Step 6: main controller module (5) is predicted the prediction maximum (top) speed of low-speed permanent-magnet synchronous generator (2) correspondence when prediction of output maximum machine power according to the wind speed and direction signal of input
Figure 2010101471668100001DEST_PATH_IMAGE001
, and the actual speed of adjustment low-speed permanent-magnet synchronous generator (2) is described prediction maximum (top) speed
Figure 319745DEST_PATH_IMAGE001
, realize the tracking of peak output; Execution in step seven then;
Step 7: the dutycycle coefficient that calculates low-speed permanent-magnet synchronous generator (2)
Figure 5941DEST_PATH_IMAGE002
, and then obtain the dutycycle of the three phase circuit in the threephase armature winding of low-speed permanent-magnet synchronous generator (2)
Figure DEST_PATH_IMAGE003
,
Figure 402812DEST_PATH_IMAGE004
,
Figure DEST_PATH_IMAGE005
, basis again
Figure 516261DEST_PATH_IMAGE003
,
Figure 379175DEST_PATH_IMAGE004
,
Figure 603483DEST_PATH_IMAGE005
The break-make of three rectifier bridges in the control PWM rectification charging power model (3) realizes the output of the unity power factor of low-speed permanent-magnet synchronous generator (2); And then execution in step one;
Step 8: main controller module (5) sends braking instruction to brake signal module (9), and brake signal module (9) control mechanical brake (8) is to the input shaft braking of low-speed permanent-magnet synchronous generator (2), generation outage.
3. the maximal power tracing type wind power generation method with energy predicting function according to claim 2 is characterized in that:
The prediction maximum (top) speed of prediction low-speed permanent-magnet synchronous generator (2) correspondence when prediction of output maximum machine power in the described step 6
Figure 930559DEST_PATH_IMAGE001
And the method that realizes the tracking of peak output is: main controller module (5) is predicted according to the peak output of the wind energy that the wind speed and direction signal of input can be caught low-speed permanent-magnet synchronous generator (2), obtain the prediction peak output, and according to the prediction of output maximum machine power of described prediction peak output prediction low-speed permanent-magnet synchronous generator (2) and the prediction maximum (top) speed of correspondence thereof , actual speed signal and described prediction maximum (top) speed that main controller module (5) collects generator speed testing module (11)
Figure 548808DEST_PATH_IMAGE001
Compare, adjust the equivalent load at given low-speed permanent-magnet synchronous generator (2) two ends then
Figure 576807DEST_PATH_IMAGE006
, change the equivalent load that is added in low-speed permanent-magnet synchronous generator (2) two ends by PWM rectification charging power model (3) , and then the actual speed of adjustment low-speed permanent-magnet synchronous generator (2), make the actual speed of low-speed permanent-magnet synchronous generator (2) equal to predict maximum (top) speed , and then reach the output of maximum machine power, realize the tracking of peak output.
4. the maximal power tracing type wind power generation method with energy predicting function according to claim 3 is characterized in that:
Calculate the dutycycle coefficient of low-speed permanent-magnet synchronous generator (2) in the described step 7
Figure 151325DEST_PATH_IMAGE002
Method be: equal to predict maximum (top) speed according to the actual speed that makes low-speed permanent-magnet synchronous generator (2) in the step 6
Figure 785569DEST_PATH_IMAGE007
The time, the equivalent load at given low-speed permanent-magnet synchronous generator (2) two ends
Figure 538630DEST_PATH_IMAGE006
, by formula
Figure 840298DEST_PATH_IMAGE008
With
Figure DEST_PATH_IMAGE009
Calculate the dutycycle coefficient
Figure 404135DEST_PATH_IMAGE002
, wherein
Figure 525675DEST_PATH_IMAGE010
Be the synthetic equivalent voltage vector of three-phase voltage source of low-speed permanent-magnet synchronous generator (2) output, The charging current of the power storage module (4) that collects for current detection module (6), Be the equivalent resistance of low-speed permanent-magnet synchronous generator (2),
Figure DEST_PATH_IMAGE013
Be the equivalent inductance of low-speed permanent-magnet synchronous generator (2), The busbar voltage of power storage module (4) input of gathering for busbar voltage testing module (7);
The dutycycle of the three phase circuit in the threephase armature winding in the described step 7 in the low-speed permanent-magnet synchronous generator (2)
Figure 973339DEST_PATH_IMAGE003
, , Computational methods be: according to formula , obtain the dutycycle of the three phase circuit in the threephase armature winding in the low-speed permanent-magnet synchronous generator (2)
Figure 690650DEST_PATH_IMAGE003
,
Figure 658606DEST_PATH_IMAGE004
, , in the formula
Figure 404025DEST_PATH_IMAGE016
,
Figure DEST_PATH_IMAGE017
,
Figure 269213DEST_PATH_IMAGE018
Be respectively three current values in the threephase armature winding of low-speed permanent-magnet synchronous generator (2).
5. the maximal power tracing type wind power generation method with energy predicting function according to claim 4 is characterized in that:
Three current values in the threephase armature winding of described low-speed permanent-magnet synchronous generator (2) ,
Figure 178449DEST_PATH_IMAGE017
,
Figure 693744DEST_PATH_IMAGE018
Preparation method be: gather to obtain the current value in the two-phase armature winding of low-speed permanent-magnet synchronous generator (2) by current detection module (6) , , according to restriction of current by the current value in the two-phase armature winding
Figure 731604DEST_PATH_IMAGE016
,
Figure 971962DEST_PATH_IMAGE017
Calculate the current value in the third phase armature winding
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