CN101900080A - Fan control system adopting variable-structure PID (Proportion Integration Differentiation) variable-propeller control - Google Patents

Fan control system adopting variable-structure PID (Proportion Integration Differentiation) variable-propeller control Download PDF

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Publication number
CN101900080A
CN101900080A CN2010102319403A CN201010231940A CN101900080A CN 101900080 A CN101900080 A CN 101900080A CN 2010102319403 A CN2010102319403 A CN 2010102319403A CN 201010231940 A CN201010231940 A CN 201010231940A CN 101900080 A CN101900080 A CN 101900080A
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feather
module
control
pid
speed
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CN2010102319403A
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CN101900080B (en
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孙佳林
尹正兵
董祖毅
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上海电气集团股份有限公司
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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/70Wind energy
    • Y02E10/72Wind turbines with rotation axis in wind direction

Abstract

The invention discloses a fan control system adopting variable-structure PID variable-propeller control, which comprises a variable-propeller-pitch range computing module, a gust protection processing module, a rotating speed deviation filtering module, a segmented PID regulating module, a variable-propeller-pitch speed nonlinear factor computing module and an output control module. In the invention, the rotating speed of a generator is accurately controlled through the PID regulation for rotating speed deviation, and the fan control system has stable and reliable performance, can effectively improve the output power of a fan and has the advantages of excellent performance, safety and stability.

Description

Adopt and become the blower fan control system that Structure PID becomes oar control

Technical field

The present invention relates to pitch-controlled wind-driven generator group field, relate in particular to the blower fan control system that a kind of safe and reliable change Structure PID that is applied to the pitch-controlled wind-driven generator group becomes oar control.

Background technique

In recent years along with the increasing rapidly of China's energy demand, the proposition of sustainable development theory, wind-powered electricity generation becomes one of main path that obtains green energy resource, has obtained vigorously supporting of country.At present; the wind-powered electricity generation unit of China just develops towards the direction that MW class maximizes; adopt classical PID (proportional-integral-differential) control algorithm as direct the influence more than core technology-feather control algorithm that MW class wind turbine group safety and stability produces; it is perfect inadequately to the collection and the processing of signal; algorithm is simple relatively, and controlled generator speed fluctuation is bigger, is unfavorable for torque control; and the hypervelocity fault takes place under strong wind and fitful wind situation easily cause blower fan to be shut down, influence generating efficiency.

Summary of the invention

The objective of the invention is to overcome the defective of prior art and provide a kind of the employing to become the blower fan control system that Structure PID becomes oar control, stable and reliable for performance, can effectively improve the output power of blower fan, it has the advantage of superior performance, safety and stability.

The technological scheme that realizes above-mentioned purpose is: a kind of employing becomes the blower fan control system that Structure PID becomes oar control; wherein; comprise feather range computation module, fitful wind protection puocessing module, rotating speed deviation filtration module, segmentation PID adjustment module, feather speed nonlinear factor computing module and output control module, wherein:

Described feather range computation module calculates the feather scope according to N mean wind velocity in second, and N is a positive number;

Described fitful wind protection puocessing module receives the feather scope of feather range computation module output, and this feather scope is revised, and revised feather scope is exported to described output control module;

Described rotating speed deviation filtration module receives current tach signal and sets tach signal, carries out then outputing signal to described segmentation PID adjustment module after the deviation filtering;

Described segmentation PID adjustment module is calculated the signal of input, calculates feather speed, then this feather speed is exported to described output control module;

Described feather speed nonlinear factor computing module receives the pitch position signal, calculates the nonlinear factor of feather speed, then this nonlinear factor is exported to described output control module;

Described output control module receives the revised feather scope of fitful wind protection puocessing module output, the feather speed of segmentation PID adjustment module output and the nonlinear factor of feather speed nonlinear factor computing module output respectively; proofread and correct feather speed with nonlinear factor; obtain target pitch position, this target pitch position and feather scope are compared and export change oar acceleration and pitch position.

Above-mentioned employing becomes the blower fan control system that Structure PID becomes oar control, wherein, described rotating speed deviation filtration module employing averaging filter and low-pass filter are realized the interference with erasure signal, described averaging filter filtering is measured fluctuation, the electromagnetic interference in the described low pass filter filters out cabin because of the encoder that fan vibration causes.

Above-mentioned employing becomes the blower fan control system that Structure PID becomes oar control, wherein, the tach signal of described rotating speed deviation filtration module input is the absolute value encoder signal of rotating speed or near the level signal of switch, when using absolute value encoder and gather tach signal, adopts averaging filter; When using near switch collection tach signal, adopt two wave filter serial fashions to carry out filtering, promptly signal is handled through averaging filter then earlier through low-pass filtering treatment.

Above-mentioned employing becomes the blower fan control system that Structure PID becomes oar control, wherein, described feather range computation module obtains the correspondence table of different wind speed and propeller pitch angle scope according to blower fan is carried out modeling and simulating, uses the Lagrange's interpolation algorithm again and obtains feather scope under the current wind speed.

Above-mentioned employing becomes the blower fan control system that Structure PID becomes oar control, wherein, described feather speed nonlinear factor computing module is when calculating, power is not constant with respect to the partial differential of propeller pitch angle, and promptly different propeller pitch angles are non-linear for the variance ratio of power, need nonlinear factor to be proofreaied and correct, according to the blade characteristic, calculate the nonlinear factor table, obtain the nonlinear factor of current propeller pitch angle correspondence again by interpolation calculation, feather speed is proofreaied and correct.

Above-mentioned employing becomes the blower fan control system that Structure PID becomes oar control, and wherein, described segmentation PID adjustment module adopts different pid parameters according to different loads.

Above-mentioned employing becomes the blower fan control system that Structure PID becomes oar control, and wherein, when wind occurring intermittently, described fitful wind protection puocessing module is proofreaied and correct the feather scope, prevents because of the wind wheel that wind speed gos up the to cause phenomenon of overrunning.

Above-mentioned employing becomes the blower fan control system that Structure PID becomes oar control, and wherein, described output control module need average value filtering and Zero Crossing Point filtering when output.

Above-mentioned employing becomes the blower fan control system that Structure PID becomes oar control, and wherein, the signal demand of described output control module output is changed, and is converted to 4~20mA current signal and exports or export by Field bus.

Above-mentioned employing becomes the blower fan control system that Structure PID becomes oar control, and wherein, described N is 10.

The invention has the beneficial effects as follows: the present invention is that a kind of wind generating set pitch control that is applied to is apart from control system, by optimization to system, particularity at wind-power electricity generation, optimize the pitch control algorithm, obtain stable rotating speed control effect, the present invention is stable and reliable for performance, and its major function is that generator speed is stable at speed setting value to enhance productivity, and prevent the generation of the hypervelocity accident that badly causes because of wind regime, the present invention has following advantage:

1. safe and reliable, definite feather scope is handled with the fitful wind protection and is combined under the different wind speed, guarantees blower fan safe operation under abominable wind regime;

2. superior performance, data acquisition process obtains better control output in conjunction with segmentation PID control targetedly, proofreaies and correct according to the nonlinear factor of blade again, realizes the more stable control of generator speed;

3. output is handled, helped prolonging the working life that becomes oar actuator;

4. degree of modularity height, compatible polytypic blower fan can apply to 1.25MW, 2MW and 3.6MW blower fan, only needs to revise an a few parameters and gets final product;

5. interface compatibility is good, and tachometric survey can adopt incremental encoder signal, absolute value encoder SSI signal, near switch level signal etc.Exportable 0~10V voltage signal, 4~20mA current signal, fieldbus signal, compatible hydraulic variable propeller system and electric servo pitch-controlled systems such as Profibus, CANBus.

Description of drawings

Fig. 1 is that employing of the present invention becomes the structural representation that Structure PID becomes the blower fan control system of oar control.

Embodiment

The invention will be further described below in conjunction with accompanying drawing.

The purpose of pitch of the present invention control is to regulate by the PID to the rotating speed deviation controls generator speed exactly.

See also Fig. 1; there is shown a kind of employing the of the present invention and become the blower fan control system that structure PI D becomes oar control; comprise feather range computation module 1, fitful wind protection puocessing module 2, rotating speed deviation filtration module 3, segmentation PID adjustment module 4, feather speed nonlinear factor computing module 5 and output control module 6, wherein:

Feather range computation module 1 calculates the feather scope according to N mean wind velocity in second, N is a positive number, N is 10 in the present embodiment, feather range computation module 1 is according to blower fan is carried out modeling and simulating, obtain the correspondence table of different wind speed and propeller pitch angle scope, use the Lagrange's interpolation algorithm again and obtain feather scope under the current wind speed, feather range computation module 1 is by introducing the two-dimensional array of " wind speed-minimum propeller pitch angle ", carries out Lagrangian linear interpolation according to 10 seconds current mean wind velocitys and calculates and try to achieve corresponding feather and allow the minimum propeller pitch angle that reaches.Under strong wind and fitful wind situation, can effectively prevent the overrun generation of accident of wind wheel.

Fitful wind protection puocessing module 2 receives the feather scope of feather range computation module 1 output; this feather scope is revised; revised feather scope is exported to output control module 6; when appearance wind at intermittence; 2 pairs of feather scopes of fitful wind protection puocessing module are proofreaied and correct, and prevent because of the wind wheel that wind speed gos up the to cause phenomenon of overrunning.

The rotating speed deviation filtration module 3 main conditioning functions of realizing data acquisition signal, receive current tach signal and set tach signal, carry out then outputing signal to segmentation PID adjustment module 4 after the deviation filtering, this module employing averaging filter and low-pass filter are realized the interference with erasure signal, the averaging filter filtering is measured fluctuation because of the encoder that fan vibration causes, electromagnetic interference in the low pass filter filters out cabin, the tach signal of rotating speed deviation filtration module 3 inputs can be incremental encoder signal or absolute value encoder SSI signal, also can be the level signal near switch.According to the acquisition mode of rotating speed, can handle flexibly. applying encoder is gathered tach signal, only needs averaging filter; Application is gathered tach signal near switch, can adopt two wave filter serial fashions, and promptly signal is handled then through low-pass filter earlier and handled through averaging filter. and for code device signal, the vibration in cabin is the principal element that influence is measured; For level signal, electromagnetic interference is the principal element that influence is measured.According to the type of input signal, this rotating speed deviation filtration module 3 can obtain the good data collection result by regulating corresponding hum reduction factor.

The signal of 4 pairs of inputs of segmentation PID adjustment module calculates, calculate feather speed, then this feather speed is exported to output control module 6, segmentation PID adjustment module 4 adopts different pid parameters according to different loads, to reach good control stability, this module makes rotating speed can obtain the control of safety and steady under any state of blower fan.When being in idle running, being incorporated into the power networks and braking three different conditions, adopts by blower fan different pid parameters.When blower fan is in and during net state, for guaranteeing that rotating speed can be stable on any position, rotating speed district of being incorporated into the power networks, needs to adopt different pid parameters equally.In " rotary speed-torque " curve, there is interim constant characteristic in slope, and also the pid parameter under the net state is divided into low velocity zone, three groups of parameters of transition zone and permanent torque district.At the big inertia characteristics of controlled rotating speed, be controlled to be the master with PD in the PID control.Because differentiation element has stronger susceptibility for undesired signal, for reducing the influence of undesired signal to differentiation element, adopts four dot center's method of difference.

Feather speed nonlinear factor computing module 5 receives the pitch position signal, calculate the nonlinear factor of feather speed, then this nonlinear factor is exported to output control module 6, feather speed nonlinear factor computing module 5 is when calculating, power is not constant with respect to the partial differential of propeller pitch angle, be different propeller pitch angles for the variance ratio of power be non-linear, need nonlinear factor to be proofreaied and correct, according to the blade characteristic, calculate the nonlinear factor table, obtain the nonlinear factor of current propeller pitch angle correspondence again by interpolation calculation, feather speed is proofreaied and correct.Feather speed nonlinear factor computing module 5 is by introducing the two-dimensional array of " propeller pitch angle-nonlinear factor ", carry out Lagrangian linear interpolation according to current propeller pitch angle position and calculate the feather adjusting nonlinear factor of trying to achieve correspondence, be used for the correction of feather speed.In the running of wind power generating set, because pneumatic power is not a constant with respect to the partial differential of propeller pitch angle, be different propeller pitch angles for the variance ratio of power be non-linear, for guaranteeing to obtain stable power variation rate in the feather process stably, need be proofreaied and correct feather speed with nonlinear factor.In the controller of fan of different model, use this feather control algorithm, need to import " propeller pitch angle-nonlinear factor " table of this blower fan blade correspondence.

Output control module 6 receives the revised feather scope of fitful wind protection puocessing module 2 outputs respectively; the nonlinear factor of the feather speed of segmentation PID adjustment module 4 outputs and 5 outputs of feather speed nonlinear factor computing module; proofread and correct feather speed with nonlinear factor; obtain target pitch position; this target pitch position and feather scope are compared and export change oar acceleration and pitch position; output control module 6 is when output; need average value filtering and Zero Crossing Point filtering; prevent feather executive system frequent fluctuation or commutation; prolong the working life of feather actuator; signal conversion after will calculating then is the output of 4~20mA current signal or passes through Profibus; the output of Field buss such as CANBus; can select in the output control module 6 for the user; for preventing the excessive frequent commutation action of feather actuator or the working life of gear shifting operation shortening feather machinery; the output of this module has added smoothing processing; comprise that average value filtering and Zero Crossing Point filtering reduce the frequency and the amplitude of feather action effectively; and it is big in conjunction with blower fan main shaft inertia; the characteristics that wind speed randomness wave properties is strong make rotating speed more stable around set point.

Working principle of the present invention at first for preventing that generator speed is overrun in the feather process, by the calculating of the feather scope under the 10s mean wind velocity wind regime, and is proofreaied and correct by fitful wind protection puocessing module 2; Deviation by actual speed and speed setting value then, the output of calculating each link of PID respectively; Try to achieve according to current pitch position afterwards and become the oar nonlinear factor; By becoming the output of oar nonlinear factor and segmentation PID adjustment module 4, decision becomes oar speed and pitch position set point; Compare at last output pitch position set point with the feather scope under the current wind regime.

Above embodiment is only for the usefulness that the present invention is described, but not limitation of the present invention, person skilled in the relevant technique, under the situation that does not break away from the spirit and scope of the present invention, can also make various conversion or modification, therefore all technological schemes that are equal to also should belong to category of the present invention, should be limited by each claim.

Claims (10)

1. one kind is adopted the blower fan control system that becomes the control of Structure PID change oar; it is characterized in that; comprise feather range computation module, fitful wind protection puocessing module, rotating speed deviation filtration module, segmentation PID adjustment module, feather speed nonlinear factor computing module and output control module, wherein:
Described feather range computation module calculates the feather scope according to N mean wind velocity in second, and N is a positive number;
Described fitful wind protection puocessing module receives the feather scope of feather range computation module output, and this feather scope is revised, and revised feather scope is exported to described output control module;
Described rotating speed deviation filtration module receives current tach signal and sets tach signal, carries out then outputing signal to described segmentation PID adjustment module after the deviation filtering;
Described segmentation PID adjustment module is calculated the signal of input, calculates feather speed, then this feather speed is exported to described output control module;
Described feather speed nonlinear factor computing module receives the pitch position signal, calculates the nonlinear factor of feather speed, then this nonlinear factor is exported to described output control module;
Described output control module receives the revised feather scope of fitful wind protection puocessing module output, the feather speed of segmentation PID adjustment module output and the nonlinear factor of feather speed nonlinear factor computing module output respectively; proofread and correct feather speed with nonlinear factor; obtain target pitch position, this target pitch position and feather scope are compared and export change oar acceleration and pitch position.
2. employing according to claim 1 becomes the blower fan control system that Structure PID becomes oar control, it is characterized in that, described rotating speed deviation filtration module employing averaging filter and low-pass filter are realized the interference with erasure signal, described averaging filter filtering is measured fluctuation, the electromagnetic interference in the described low pass filter filters out cabin because of the encoder that fan vibration causes.
3. employing according to claim 1 and 2 becomes the blower fan control system that Structure PID becomes oar control, it is characterized in that, the tach signal of described rotating speed deviation filtration module input is the absolute value encoder signal of rotating speed or near the level signal of switch, when using absolute value encoder collection tach signal, adopt averaging filter; When using near switch collection tach signal, adopt two wave filter serial fashions to carry out filtering, promptly signal is handled through averaging filter then earlier through low-pass filtering treatment.
4. employing according to claim 1 becomes the blower fan control system that Structure PID becomes oar control, it is characterized in that, described feather range computation module is according to blower fan is carried out modeling and simulating, obtain the correspondence table of different wind speed and propeller pitch angle scope, use the Lagrange's interpolation algorithm again and obtain feather scope under the current wind speed.
5. employing according to claim 1 becomes the blower fan control system that Structure PID becomes oar control, it is characterized in that, described feather speed nonlinear factor computing module is when calculating, power is not constant with respect to the partial differential of propeller pitch angle, be different propeller pitch angles for the variance ratio of power be non-linear, need nonlinear factor to be proofreaied and correct, according to the blade characteristic, calculate the nonlinear factor table, obtain the nonlinear factor of current propeller pitch angle correspondence again by interpolation calculation, feather speed is proofreaied and correct.
6. employing according to claim 1 becomes the blower fan control system that Structure PID becomes oar control, it is characterized in that, described segmentation PID adjustment module adopts different pid parameters according to different loads.
7. employing according to claim 1 becomes the blower fan control system that Structure PID becomes oar control; it is characterized in that; when wind occurring intermittently, described fitful wind protection puocessing module is proofreaied and correct the feather scope, prevents because of the wind wheel that wind speed gos up the to cause phenomenon of overrunning.
8. employing according to claim 1 becomes the blower fan control system that Structure PID becomes oar control, it is characterized in that, described output control module need average value filtering and Zero Crossing Point filtering when output.
9. become the blower fan control system that Structure PID becomes oar control according to claim 1 or 8 described employings, it is characterized in that, the signal demand of described output control module output is changed, and is converted to 4~20mA current signal and exports or export by Field bus.
10. employing according to claim 1 becomes the blower fan control system that Structure PID becomes oar control, it is characterized in that described N is 10.
CN2010102319403A 2010-07-21 2010-07-21 Fan control system adopting variable-structure PID (Proportion Integration Differentiation) variable-propeller control CN101900080B (en)

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CN102518555A (en) * 2012-01-12 2012-06-27 三一电气有限责任公司 Megawatt wind driven generator set as well as control method and control system thereof
CN102536657A (en) * 2010-12-21 2012-07-04 通用电气公司 System and method for controlling wind turbine power output
CN102628426A (en) * 2012-04-18 2012-08-08 浙江大学 Hydraulic driving-based wind turbine and control method thereof
CN102635499A (en) * 2012-04-18 2012-08-15 中船重工(重庆)海装风电设备有限公司 Rotational speed and torque control device and method of wind turbine generator set
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CN102966488A (en) * 2012-11-02 2013-03-13 华锐风电科技(集团)股份有限公司 Method and system for lowering offshore wind generating set load
CN102996335A (en) * 2012-10-24 2013-03-27 南车株洲电力机车研究所有限公司 Decoupling control method for variable pitch control and torque control of large wind turbine unit
CN103184972A (en) * 2011-12-30 2013-07-03 中国科学院沈阳自动化研究所 Parameter self-turning method for torque/propeller pitch controller of megawatt asynchronous double-feed wind driven generator
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CN104749959A (en) * 2015-04-27 2015-07-01 重庆大学 Generalized sliding mode estimator-based fault-tolerant control method for unit variable pitch
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CN105971820B (en) * 2015-03-13 2019-09-24 通用电气公司 It is controlled using the wind turbine of signal controller
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