CN101793235B - 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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CN101793235B
CN101793235B CN2010101471668A CN201010147166A CN101793235B CN 101793235 B CN101793235 B CN 101793235B CN 2010101471668 A CN2010101471668 A CN 2010101471668A CN 201010147166 A CN201010147166 A CN 201010147166A CN 101793235 B CN101793235 B CN 101793235B
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speed
module
low
magnet synchronous
synchronous generator
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CN101793235A (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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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 power generation plant and method with energy predicting function
Technical field
The present invention relates to a kind of maximal power tracing type wind power generation plant and method, belong to from net type wind power generation energy conversion field with energy predicting function.
Background technology
The electricity-generating method of the small-power wind power generation plant that extensively adopts at present all adopts the method for not controlling rectification to charge to storage battery.The subject matter that exists shows: the generator starting wind speed is lower; The system charging performance is unstable, and only during greater than the direct voltage 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 power generation plant adopts, all adopting has tail vane work, and when the mechanical structure moment of 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 impaired phenomenon of damaging with the storage battery overvoltage of mechanical structure again.System shows as: frequent impact and anticlimax load produce vibration.
Because the mechanical inertia of existing small-power wind power generation plant 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 power generation plant and method with energy predicting function; It has solved in existing small-power wind power generation plant and the electricity-generating method; Owing to, and can't realize problem to the prediction and the control of charge in batteries electric current to the control hysteresis of system.
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 detection module, mechanical brake, brake signal module, off-course signal generating module, generator speed detection module, wind speed and direction differential received module, driftage stepping 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 detection 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 detection 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 the off-course signal generating module, by off-course signal generating module control driftage stepping 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 power 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 detection 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 velocity of the blade that pre-sets, when said wind velocity signal is lower than maximum wind velocity, and execution in step three;
When said wind velocity signal equals maximum wind velocity, execution in step four;
When said wind velocity signal is higher than maximum wind velocity, execution in step five;
Step 3: main controller module sends off-course signal according to the wind direction signals that receives and gives the off-course signal generating module; The off-course signal generating module is sent stepping motor driftage control signal to the driftage stepping motor according to the off-course signal of input; By the rotation of driftage step motor control blade; The windward side of adjustment blade towards, carry out automatically to wind; Execution in step six then;
Step 4: main controller module sends off-course signal according to the wind direction signals that receives and gives the off-course signal generating module; The off-course signal generating module is sent stepping motor driftage control signal to the driftage stepping motor according to the off-course signal of input; By the rotation of driftage step motor control blade; The adjustment blade the windward side towards, carry out automatic crosswind; Execution in step six then;
Step 5: main controller module sends off-course signal according to the wind direction signals that receives and gives the off-course signal generating module; The off-course signal generating module is sent stepping motor driftage control signal to the driftage stepping motor according to the off-course signal of input; By the rotation of driftage step motor control blade; The windward side of adjustment blade is towards, execution degree crosswind; Execution in step six then;
Step 6: main controller module is according to the wind speed and direction signal of input; The prediction maximum (top) speed
Figure 789390DEST_PATH_IMAGE001
of prediction low-speed permanent-magnet synchronous generator correspondence when prediction of output maximum machine power; And the actual speed of adjustment low-speed permanent-magnet synchronous generator is said prediction maximum (top) speed
Figure 464085DEST_PATH_IMAGE001
, realizes the tracking of maximum power; Execution in step seven then;
Step 7: the duty ratio coefficient
Figure 987471DEST_PATH_IMAGE002
that calculates the low-speed permanent-magnet synchronous generator; And then obtain duty ratio ,
Figure 580312DEST_PATH_IMAGE004
,
Figure 121015DEST_PATH_IMAGE005
of the three-phase current in the threephase armature winding of low-speed permanent-magnet synchronous generator; According to the break-make of three rectifier bridges in
Figure 702169DEST_PATH_IMAGE003
,
Figure 37335DEST_PATH_IMAGE004
,
Figure 766257DEST_PATH_IMAGE005
control PWM rectification charging power model, realize the output of the unity power factor of low-speed permanent-magnet synchronous generator again; And then execution in step one;
Step 8: main controller module sends braking instruction and gives the brake signal module, and brake signal module controls mechanical brake is to the power 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 through real-time monitoring generator; Efficiently solve existing wind power generation control of product strategy simple, start that wind speed is high, fail safe is bad and problem such as magnetic tape trailer rudder operation, realized between wind speed and energy the most reasonably load mode.The present invention adopts energy predicting control to combine the perturbation control method, in getting the ability 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 property.TRT of the present invention and electricity-generating method can effectively guarantee stable operation and safety, can really realize unattended operation, 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 maximum power 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<img file="32022DEST_PATH_IMAGE001.GIF" he="16" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="17" />Performance diagram, the represented wind speed of dotted line among the figure<i >v</i><sub >1</sub><<i >v</i><sub >2</sub><<i >v</i><sub >3</sub><<i >v</i><sub >4</sub><<i >v</i><sub >5</sub>Fig. 5 is the prediction maximum (top) speed of prediction low-speed permanent-magnet synchronous generator in the execution mode two<img file="529999DEST_PATH_IMAGE001.GIF" he="16" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="17" />The time, the mountain-climbing search method of employing combines 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 execution mode two<img file="973750DEST_PATH_IMAGE001.GIF" he="16" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="17" />The time, the curve chart that adopts the mountain-climbing search method to obtain, ordinate 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<img file="189968DEST_PATH_IMAGE001.GIF" he="16" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="17" />Fig. 7 is the prediction maximum (top) speed that adopts interpolation method estimation low-speed permanent-magnet synchronous generator in the execution mode two<img file="259424DEST_PATH_IMAGE001.GIF" he="16" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="17" />The curve chart that obtains, ordinate is the prediction maximum (top) speed of low-speed permanent-magnet synchronous generator 2 among the figure<img file="611908DEST_PATH_IMAGE001.GIF" he="16" img-content="drawing" img-format="GIF" inline="no" orientation="portrait" wi="17" />, 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 execution mode two, the energy that ordinate 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 execution mode two; Figure 11 is the flow chart of the inventive method.
Embodiment
Embodiment one: below in conjunction with Fig. 1 this execution mode is described, this execution mode 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 detection module 7, mechanical brake 8, brake signal module 9, off-course signal generating module 10, generator speed detection module 11, wind speed and direction differential received module 12, driftage stepping 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 detection 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 detection 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 generating module 10, by 13 pairs of blades 1 of off-course signal generating module 10 control driftage stepping motors towards controlling;
The brake signal of main controller module 5 is exported to brake signal module 9, is braked by the power 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 detector 16 and LCD MODULE 17 in this execution mode, the signal output part of mode of operation selector button 15 connects the button signal input of main controller module 5; The signal input part of fault detector 16 connects the fault-signal output of main controller module 5; The signal input part of LCD MODULE 17 connects the shows signal output of main controller module 5.
Mode of operation selector button 15 mainly contains and shows handoff functionality, go off course handoff functionality, manually forward running and manual functions such as antiport function, the switching of off-load resistance automatically and manually here; Fault detector 16 is used to point out overcurrent 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.
The course of work: the wind energy that comes from blade 1 sends low-speed permanent-magnet synchronous generator 2 to through gearing, and low-speed permanent-magnet synchronous generator 2 utilizes the power storage module 4 at 3 pairs of terminals of PWM rectification charging power model to charge.The data-signal that current detection module 6, busbar voltage detection module 7, generator speed detection 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 through mode of operation selector button 15 modes of carrying out; According to the thought generation triggering 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 detector 16, and is placed on the same panel, is used for showing and faulty indication.
Embodiment two: this execution mode is described below in conjunction with Fig. 1 to Figure 11; The electricity-generating method of this execution mode 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 detection module 7, mechanical brake 8, brake signal module 9, off-course signal generating module 10, generator speed detection module 11, wind speed and direction differential received module 12, driftage stepping motor 13 and anemoclinograph 14;
The process of said electricity-generating method is:
The voltage signal that step 1, main controller module 5 collect according to busbar voltage detection 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 velocity of the blade that pre-sets 1, when said wind velocity signal is lower than maximum wind velocity, and execution in step three;
When said wind velocity signal equals maximum wind velocity, execution in step four;
When said wind velocity signal is higher than maximum wind velocity, execution in step five;
Step 3: main controller module 5 sends off-course signal according to the wind direction signals that receives and gives off-course signal generating module 10; Off-course signal generating module 10 is sent stepping motor driftage control signal to driftage stepping motor 13 according to the off-course signal of input; By 1 rotation of driftage stepping motor 13 control blades; The windward side of adjustment blade 1 towards, carry out automatically to wind; Execution in step six then;
Step 4: main controller module 5 sends off-course signal according to the wind direction signals that receives and gives off-course signal generating module 10; Off-course signal generating module 10 is sent stepping motor driftage control signal to driftage stepping motor 13 according to the off-course signal of input; By 1 rotation of driftage stepping motor 13 control blades; The adjustment blade 1 the windward side towards, carry out automatic crosswind; Execution in step six then;
Step 5: main controller module 5 sends off-course signal according to the wind direction signals that receives and gives off-course signal generating module 10; Off-course signal generating module 10 is sent stepping motor driftage control signal to driftage stepping motor 13 according to the off-course signal of input; By 1 rotation of driftage stepping motor 13 control blades; The windward side of adjustment blade 1 towards, carry out 90 degree crosswind; Execution in step six then;
Step 6: main controller module 5 is according to the wind speed and direction signal of input; The prediction maximum (top) speed
Figure 554456DEST_PATH_IMAGE001
of prediction low-speed permanent-magnet synchronous generator 2 correspondence when prediction of output maximum machine power; And the actual speed of adjustment low-speed permanent-magnet synchronous generator 2 is said prediction maximum (top) speed
Figure 930074DEST_PATH_IMAGE001
, realizes the tracking of maximum power; Execution in step seven then;
Step 7: the duty ratio coefficient
Figure 350691DEST_PATH_IMAGE002
that calculates low-speed permanent-magnet synchronous generator 2; And then obtain duty ratio
Figure 823260DEST_PATH_IMAGE003
,
Figure 858081DEST_PATH_IMAGE004
,
Figure 783312DEST_PATH_IMAGE005
of the three-phase current in the threephase armature winding of low-speed permanent-magnet synchronous generator 2; According to the break-make of three rectifier bridges in
Figure 945303DEST_PATH_IMAGE003
,
Figure 272379DEST_PATH_IMAGE004
,
Figure 556730DEST_PATH_IMAGE005
control PWM rectification charging power model 3, realize the output of the unity power factor of low-speed permanent-magnet synchronous generator 2 again; And then execution in step one;
Step 8: main controller module 5 sends braking instruction and gives brake signal module 9, the power shaft braking of 8 pairs of low-speed permanent-magnet synchronous generators 2 of brake signal module 9 control mechanical brakes, generation outage.
Predict the prediction maximum (top) speed of low-speed permanent-magnet synchronous generator 2 correspondence when prediction of output maximum machine power in the said step 6 and realize that the method for the tracking of maximum power is: main controller module 5 is predicted the maximum power 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 maximum power; And according to the prediction of output maximum machine power of said prediction maximum power prediction low-speed permanent-magnet synchronous generator 2 and the prediction maximum (top) speed of correspondence thereof; Main controller module 5 is compared the actual speed signal that generator speed detection module 11 collects with said prediction maximum (top) speed
Figure 37893DEST_PATH_IMAGE001
; Adjust the equivalent load
Figure 680096DEST_PATH_IMAGE006
at given low-speed permanent-magnet synchronous generator 2 two ends then; Change the equivalent load
Figure 579918DEST_PATH_IMAGE006
that is added in low-speed permanent-magnet synchronous generator 2 two ends through 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
Figure 146029DEST_PATH_IMAGE007
; And then reach the output of maximum machine power, realize the tracking of maximum power.
The method of calculating the duty ratio coefficient
Figure 119801DEST_PATH_IMAGE002
of low-speed permanent-magnet synchronous generator 2 in the said step 7 is: when equaling to predict maximum (top) speed
Figure 745955DEST_PATH_IMAGE007
according to the actual speed that makes low-speed permanent-magnet synchronous generator 2 in the step 6; The equivalent load at given low-speed permanent-magnet synchronous generator 2 two ends ; Calculate duty ratio coefficient
Figure 315159DEST_PATH_IMAGE002
by formula and
Figure 518104DEST_PATH_IMAGE009
; Wherein
Figure 923995DEST_PATH_IMAGE010
is the synthetic equivalent voltage vector of three-phase voltage source of low-speed permanent-magnet synchronous generator 2 outputs; The charging current of the power storage module 4 that collects for current detection module 6; is the equivalent resistance of low-speed permanent-magnet synchronous generator 2;
Figure 263075DEST_PATH_IMAGE013
is the equivalent inductance of low-speed permanent-magnet synchronous generator 2,
Figure 296891DEST_PATH_IMAGE014
be the busbar voltage of power storage module 4 inputs of busbar voltage detection module 7 collections;
The computational methods of the duty ratio of the three-phase current in the threephase armature winding in the said step 7 in the low-speed permanent-magnet synchronous generator 2
Figure 742915DEST_PATH_IMAGE003
, ,
Figure 199490DEST_PATH_IMAGE005
are: according to formula
Figure 720602DEST_PATH_IMAGE015
; Obtain duty ratio
Figure 970317DEST_PATH_IMAGE003
,
Figure 955591DEST_PATH_IMAGE004
,
Figure 452300DEST_PATH_IMAGE005
of the three-phase current in the threephase armature winding in the low-speed permanent-magnet synchronous generator 2,
Figure 523024DEST_PATH_IMAGE016
,
Figure 514114DEST_PATH_IMAGE017
, are respectively three current values in the threephase armature winding of low-speed permanent-magnet synchronous generator 2 in the formula.
The preparation method of three current values in the threephase armature winding of said low-speed permanent-magnet synchronous generator 2
Figure 21505DEST_PATH_IMAGE016
,
Figure 313946DEST_PATH_IMAGE017
,
Figure 171043DEST_PATH_IMAGE018
is: current value
Figure 803013DEST_PATH_IMAGE016
,
Figure 454574DEST_PATH_IMAGE017
by current detection module 6 is gathered in the two phase armature winding that obtain low-speed permanent-magnet synchronous generator 2 calculate the current value in the third phase armature winding according to restriction of current through the current value in the two phase armature winding
Figure 686841DEST_PATH_IMAGE016
, .
Advance below in conjunction with accompanying drawing the course of work be elaborated:
The analysis of wind energy:
During wind process blade 1; Can drive blade 1 rotation; 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, this proportion of utilization is called power coefficient; The expression with
Figure 656568DEST_PATH_IMAGE019
, so the mechanical output of low-speed permanent-magnet synchronous generator 2 wind energy of being caught is:
(one)
Figure 43873DEST_PATH_IMAGE012
is the radius of blade 1 in the formula, the wind speed that
Figure 712752DEST_PATH_IMAGE021
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 was , output mechanical power
Figure 398128DEST_PATH_IMAGE023
was:
Figure 400719DEST_PATH_IMAGE024
(two)
Figure 111055DEST_PATH_IMAGE025
is torque in the formula; Under the steady 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, and the rotating speed an of the 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, and under different wind, 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; Be 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 maximum power 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 velocity that systemic presupposition puts, realize automatically to the wind function by driftage stepping motor 13 control blades 1; Surpass when can bear maximum wind velocity or power storage module 4 overvoltage when wind speed is higher, revolve immediately by driftage stepping motor 13 control blades 1 and turn 90 degrees, realize automatic crosswind function.Simultaneously, driftage stepping 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 stepping motor 13 inverted runnings and untie the mooring rope.In the middle of the operation, direction deflection is balanced as far as possible, and stepping motor 13 folk prescriptions of promptly avoiding going off course are to rotation.The power density of driftage stepping motor 13 is big, and the driftage angle can be gathered the data and the motor actual angle that obtain by anemoclinograph 14 and 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; Control through to PWM rectification charging power model 3 changes the equivalent load that is added in low-speed permanent-magnet synchronous generator 2 two ends; Just can change the rotating speed of generator, make its rotating speed that reaches the maximum power point place, thereby realize the tracking of maximum power.
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 method of perturbation simultaneously, in the hope of obtaining higher charging performance.In little scope, adopt the load disturbance method to find 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 optimum operation rotating speed
Figure 516946DEST_PATH_IMAGE001
through the calculating meeting according to the wind speed that records, and this process realizes in main controller module 5.This search procedure need expend certain hour, in order to save search time, can Search Results be stored in the form, when detecting this wind speed once more, directly draws the best equivalence load through 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 search and write table, ins conjunction with Fig. 3, to specifying as follows of each step in scheming:
Steps A: the supposition wind speed can normal power generation in V0 ~ V1 scope; With (V0; V1) interval is equally divided into n part; Each little wind speed interval corresponding (
Figure 995332DEST_PATH_IMAGE027
so;
Figure 373223DEST_PATH_IMAGE028
) two numbers;
Figure 160920DEST_PATH_IMAGE027
is optimum speed,
Figure 624262DEST_PATH_IMAGE028
optimum load when being stabilization of speed.
Step B: at initial operating stage; The optimum operation rotating speed that the wind speed that does not record in the optimum operation rotating speed form
Figure 968656DEST_PATH_IMAGE029
is corresponding down is 0 through the value of searching for the back gained of tabling look-up.2 of utilization
Figure 404316DEST_PATH_IMAGE029
vicinity are carried out linear interpolation and estimate the optimum operation rotating speed that
Figure 910384DEST_PATH_IMAGE029
locates roughly; Then through the mountain-climbing search; As shown in Figure 7; After finding optimum speed, this value is write in the said 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 system safety that guarantees simultaneously of rotating speed; Need preset the maximum load value that a power device can bear; When rotating speed was
Figure 313552DEST_PATH_IMAGE030
, then phase voltage was
Figure 196058DEST_PATH_IMAGE031
, so:
Figure 548542DEST_PATH_IMAGE032
(three)
Wherein
Figure 163194DEST_PATH_IMAGE006
is equivalent load, the maximum current that
Figure 601128DEST_PATH_IMAGE033
can bear for power device.
Step D: energy calculation is the key of mountain-climbing search; At first to select the suitable disturbance time
Figure 287325DEST_PATH_IMAGE034
; Calculate the wind energy W that
Figure 681266DEST_PATH_IMAGE034
inner blower is caught, specifically calculate according to formula (three).Therefrom also can find out; The calculating of the wind energy of catching mainly comprises two parts: a part is the variable quantity of mechanical energy, can obtain through initial speed in
Figure 794715DEST_PATH_IMAGE034
time and final revolution speed calculating; Another part is the calculating of electric energy, through the measurements and calculations to dc voltage and electric current.Because this process realizes through main controller module 5, therefore need carry out discretization and handle, discrete method is as shown in Figure 8, can be got the computing formula of electric energy by Fig. 8:
。(4)
Step e: obtain optimum speed
Figure 881937DEST_PATH_IMAGE027
when tabling look-up after; Make rotating speed to need to keep this rotating speed after the shortest time arrives through applying a suitable load; If the method that adopts minimum and maximum load to replace; Realize that the stagnant ring control of rotating speed can well be controlled at rotating speed near
Figure 680315DEST_PATH_IMAGE027
; But because the saltus step of load; System is in the concussion state all the time; When wind speed is ; Generator speed is
Figure 792944DEST_PATH_IMAGE027
; Only when satisfying formula (five), just can make generator speed stable.
Figure 974527DEST_PATH_IMAGE037
(five)
When therefore reaching
Figure 429779DEST_PATH_IMAGE027
at low-speed permanent-magnet synchronous generator 2 rotating speeds; Need to seek a suitable load and make stabilization of speed; But because the wind energy of catching and the relation of generator speed are non-linear; Equivalent load is difficult to accurate Calculation, so progressively disturbance is in addition accurate then to adopt estimation earlier among the present invention.
Because wind speed and rotating speed can not operate on the optimal load line before stable operation, according to the different wind instantaneous 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 need not detect the AC side phase place; Need not carry out decoupling zero control just can realize can adapting to the fluctuation of ac frequency, thereby being fit to be applied in the wind generator system near the unity power factor operation.
The controller of realizing the digitlization Cycle Control can adopt TMS320F2812DSP as main control chip; Power device adopts IPM; Six road PWM drive signals process light-coupled isolation rear drive switching tube through DSP output adopts Hall-type electric current, voltage sensor to gather electric current, voltage signal.
For low-speed permanent-magnet synchronous generator 2 following formula is arranged:
Figure 2010101471668100002DEST_PATH_IMAGE038
(six)
Figure 516553DEST_PATH_IMAGE039
(seven)
Figure 82663DEST_PATH_IMAGE011
is the three-phase current resultant vector in the formula; Be the charging current of power storage module 4; Duty ratio vector
Figure 56435DEST_PATH_IMAGE040
is a controlled amounts, makes
Figure 682589DEST_PATH_IMAGE040
to satisfy following formula:
Figure 991079DEST_PATH_IMAGE041
(eight)
With obtaining in formula (seven) and (eight) substitution formula (six):
(nine)
Existing hypothesis:
Figure 517055DEST_PATH_IMAGE009
(ten)
Then
Figure 251793DEST_PATH_IMAGE043
(11)
Figure 860629DEST_PATH_IMAGE006
is equivalent load, and then the equivalent model of system is as shown in Figure 9:
Can obtain current expression so:
Figure 768542DEST_PATH_IMAGE044
(12)
The vector correlation of duty ratio and electric current for the ease of software design, can be translated into following formula:
Figure 966174DEST_PATH_IMAGE015
(13)
Because can be far smaller than
Figure 30262DEST_PATH_IMAGE046
usually; So
Figure 679549DEST_PATH_IMAGE006
can show " pure resistance " characteristic; Then
Figure 810317DEST_PATH_IMAGE011
and same-phase, thus realized unity power factor output.And through regulating and can directly regulate the size of equiva lent impedance, thereby the size of regulating electric current
Figure 969268DEST_PATH_IMAGE011
.Also can predict and then adjust the amplitude of input current
Figure 892225DEST_PATH_IMAGE011
according to the real time status of wind energy.
Because formula (13) implements also than being easier to through the DSP program; Only need control duty ratio vector
Figure 201984DEST_PATH_IMAGE040
according to current sampling signal; But current sampling data is the numerical value that after over-current sensor, sampling resistor, these links of AD conversion, obtains, and need do some processing.
Among Fig. 2; The ac-side current of low-speed permanent-magnet synchronous generator 2 is behind over-current sensor; Convert current signal into digital quantity through the AD conversion; The Hall-type current sensor is scaled with electric current; Suppose that its no-load voltage ratio is K; Sampling resistor is R; A phase current peak value is
Figure 7129DEST_PATH_IMAGE048
; The analog quantity of then importing AD is
Figure 247486DEST_PATH_IMAGE049
; 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
Figure 87266DEST_PATH_IMAGE050
so; After the analog quantity that AD changes out multiply by duty ratio coefficient
Figure 567926DEST_PATH_IMAGE002
, its value of comparand register that writes DSP inside was:
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
is the period register of EV unit among the DSP,
Figure 453525DEST_PATH_IMAGE054
be phase voltage first-harmonic effective value according to formula:
Figure 233262DEST_PATH_IMAGE055
(16)
So with obtaining in formula (15) the substitution formula (16):
(17)
Figure 380527DEST_PATH_IMAGE057
is the equivalent load of A phase, and other two phase roughly the same.Can find; After obtaining optimum load impedance; Parameter in the formula (17) has only
Figure 202989DEST_PATH_IMAGE002
given by software, and other parameters all are the hardware parameter decisions.Thereby; In program; Can realize equivalent resistance arbitrarily within the specific limits through adjusting to .Passed through after the analysis of parameter, carried out software design, the method for digitlization 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 maximum power operating point, promptly found the maximum equivalent load.Because
Figure 855874DEST_PATH_IMAGE058
can substitute load value with the duty ratio coefficient.Because the control strategy that is designed need be controlled duty ratio according to current sampling signal for .The AD input analog amount of TMS320F2812DSP is 0 ~ 3V; Digital quantity after the conversion is 0 ~ 4096; The no-load voltage ratio of AD is
Figure 455799DEST_PATH_IMAGE050
so; After the analog quantity that AD changes out multiply by duty ratio coefficient
Figure 210129DEST_PATH_IMAGE002
, write inner its value of comparand register of DSP for
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 maximum power output.Because formula adopts in control.Ignoring under the prerequisite of inductance value; and
Figure 266629DEST_PATH_IMAGE011
is linear, has also promptly realized the unity power factor operation.
The operation of maximal power tracing type wind power generation plant:
Main controller module 5 comprises central processing unit 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 ringing process, the adjusting of duty ratio coefficient
Figure 807332DEST_PATH_IMAGE002
is realized the optimization of charging performance.The main controller module 5 main coordination controls that realize electric device, and the monitoring of various states are presented at running status and malfunction on the LCD screen 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 possibly provide, and carry out the control of corresponding duty ratio coefficient.Then, the duty ratio coefficient is carried out perturbation control among a small circle, detect the amplitude of charging current, and the duty ratio coefficient is stabilized on the maximum.The present invention is a kind of energy conversion device of wind power 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 generation energy output.

Claims (5)

1. maximal power tracing type wind power generation plant with energy predicting function 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 detection module (7), mechanical brake (8), brake signal module (9), off-course signal generating module (10), generator speed detection module (11), wind speed and direction differential received module (12), driftage stepping 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 detection 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 detection 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 generating module (10), by off-course signal generating module (10) control driftage stepping 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) power 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 power generation plant of energy predicting function of claim 1, it is characterized in that:
The process of said electricity-generating method is:
The voltage signal that step 1, main controller module (5) collect according to busbar voltage detection 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 velocity of the blade that pre-sets (1), when said wind velocity signal is lower than maximum wind velocity, and execution in step three;
When said wind velocity signal equals maximum wind velocity, execution in step four;
When said wind velocity signal is higher than maximum wind velocity, execution in step five;
Step 3: main controller module (5) sends off-course signal according to the wind direction signals that receives and gives off-course signal generating module (10); Off-course signal generating module (10) is sent stepping motor driftage control signal to driftage stepping motor (13) according to the off-course signal of input; By driftage stepping motor (13) control blade (1) rotation; The windward side of adjustment blade (1) towards, carry out automatically to wind; Execution in step six then;
Step 4: main controller module (5) sends off-course signal according to the wind direction signals that receives and gives off-course signal generating module (10); Off-course signal generating module (10) is sent stepping motor driftage control signal to driftage stepping motor (13) according to the off-course signal of input; By driftage stepping motor (13) control blade (1) rotation; The adjustment blade (1) the windward side towards, carry out automatic crosswind; Execution in step six then;
Step 5: main controller module (5) sends off-course signal according to the wind direction signals that receives and gives off-course signal generating module (10); Off-course signal generating module (10) is sent stepping motor driftage control signal to driftage stepping motor (13) according to the off-course signal of input; By driftage stepping motor (13) control blade (1) rotation; The windward side of adjustment blade (1) towards, carry out 90 degree crosswind; Execution in step six then;
Step 6: main controller module (5) is according to the wind speed and direction signal of input; The prediction maximum (top) speed
Figure 2010101471668100001DEST_PATH_IMAGE001
of prediction low-speed permanent-magnet synchronous generator (2) correspondence when prediction of output maximum machine power; And the actual speed of adjustment low-speed permanent-magnet synchronous generator (2) is said prediction maximum (top) speed
Figure 319745DEST_PATH_IMAGE001
, realizes the tracking of maximum power; Execution in step seven then;
Step 7: the duty ratio coefficient
Figure 5941DEST_PATH_IMAGE002
that calculates low-speed permanent-magnet synchronous generator (2); And then obtain duty ratio
Figure 2010101471668100001DEST_PATH_IMAGE003
, ,
Figure 2010101471668100001DEST_PATH_IMAGE005
of the three-phase current in the threephase armature winding of low-speed permanent-magnet synchronous generator (2); According to the break-make of three rectifier bridges in
Figure 516261DEST_PATH_IMAGE003
,
Figure 379175DEST_PATH_IMAGE004
,
Figure 603483DEST_PATH_IMAGE005
the control PWM rectification charging power model (3), realize the output of the unity power factor of low-speed permanent-magnet synchronous generator (2) again; And then execution in step one;
Step 8: main controller module (5) sends braking instruction and gives brake signal module (9), and brake signal module (9) control mechanical brake (8) is to the power 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:
Prediction low-speed permanent-magnet synchronous generator (2) corresponding prediction maximum (top) speed and realize that the method for the tracking of maximum power is when prediction of output maximum machine power in the said step 6: main controller module (5) is predicted according to the maximum power 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 maximum power; And according to the prediction of output maximum machine power of said prediction maximum power prediction low-speed permanent-magnet synchronous generator (2) and the prediction maximum (top) speed
Figure 136282DEST_PATH_IMAGE001
of correspondence thereof; Main controller module (5) is compared the actual speed signal that generator speed detection module (11) collects with said prediction maximum (top) speed
Figure 548808DEST_PATH_IMAGE001
; Adjust the equivalent load at given low-speed permanent-magnet synchronous generator (2) two ends then; Change the equivalent load
Figure 696073DEST_PATH_IMAGE006
that is added in low-speed permanent-magnet synchronous generator (2) two ends through 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 maximum power.
4. the maximal power tracing type wind power generation method with energy predicting function according to claim 3 is characterized in that:
The method of calculating the duty ratio coefficient
Figure 151325DEST_PATH_IMAGE002
of low-speed permanent-magnet synchronous generator (2) in the said step 7 is: when equaling to predict maximum (top) speed
Figure 785569DEST_PATH_IMAGE007
according to the actual speed that makes low-speed permanent-magnet synchronous generator (2) in the step 6; The equivalent load
Figure 538630DEST_PATH_IMAGE006
at given low-speed permanent-magnet synchronous generator (2) two ends; Calculate duty ratio coefficient
Figure 404135DEST_PATH_IMAGE002
by formula
Figure 840298DEST_PATH_IMAGE008
and
Figure 2010101471668100001DEST_PATH_IMAGE009
; Wherein
Figure 525675DEST_PATH_IMAGE010
is 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
Figure DEST_PATH_IMAGE011
collects for current detection module (6);
Figure 82427DEST_PATH_IMAGE012
is the equivalent resistance of low-speed permanent-magnet synchronous generator (2);
Figure DEST_PATH_IMAGE013
is the equivalent inductance of low-speed permanent-magnet synchronous generator (2), be the busbar voltage of power storage module (4) input of busbar voltage detection module (7) collection;
The computational methods of the duty ratio of the three-phase current in the threephase armature winding in the said step 7 in the low-speed permanent-magnet synchronous generator (2)
Figure 973339DEST_PATH_IMAGE003
, ,
Figure 490088DEST_PATH_IMAGE005
are: according to formula ; Obtain duty ratio ,
Figure 658606DEST_PATH_IMAGE004
,
Figure 692421DEST_PATH_IMAGE005
of the three-phase current in the threephase armature winding in the low-speed permanent-magnet synchronous generator (2),
Figure 404025DEST_PATH_IMAGE016
, ,
Figure 269213DEST_PATH_IMAGE018
are respectively three current values in the threephase armature winding of low-speed permanent-magnet synchronous generator (2) in the formula.
5. the maximal power tracing type wind power generation method with energy predicting function according to claim 4 is characterized in that:
The preparation method of three current values in the threephase armature winding of said low-speed permanent-magnet synchronous generator (2)
Figure 595021DEST_PATH_IMAGE016
,
Figure 178449DEST_PATH_IMAGE017
,
Figure 693744DEST_PATH_IMAGE018
is: current value
Figure 351122DEST_PATH_IMAGE016
,
Figure 660880DEST_PATH_IMAGE017
by in the two phase armature winding of current detection module (6) collection acquisition low-speed permanent-magnet synchronous generator (2) calculate the current value in the third phase armature winding according to restriction of current through the current value in the two phase armature winding
Figure 731604DEST_PATH_IMAGE016
,
Figure 971962DEST_PATH_IMAGE017
.
CN2010101471668A 2010-04-15 2010-04-15 Maximum power tracking type wind power generation device with energy predicting function and method thereof Expired - Fee Related CN101793235B (en)

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