CN102242689A - Maximum power point (MPP) tracked and controlled improved mountain climbing algorithm based on wind power generation - Google Patents
Maximum power point (MPP) tracked and controlled improved mountain climbing algorithm based on wind power generation Download PDFInfo
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Abstract
The invention provides an improved mountain climbing algorithm with a disturbance stop mechanism, aiming at the problem of erroneous judgement of a searching direction resulted from rotation speed oscillation and wind speed change existing in a mountain climbing algorithm at an MPP. The algorithm not only inherits an advantage of a variable step length mountain climbing method for rapidly searching to neighbourhoods of the MPP but also has an MPP detection and stop mechanism. When a fan tracks to the neighbourhoods of the MPP, the MPP detection and stop mechanism not only can be used for effectively reducing the abrasion of the rotation speed oscillation to mechanical parts of a fan system but also can overcome the interference on judging a searching direction when a wind speed changes again after an algorithm stop mechanism becomes effective so as to further increase a wind power capturing efficiency. The effectiveness and the superiority of the algorithm can be verified by a simulation result.
Description
Technical Field
The invention belongs to the field of wind power generation, and particularly relates to an improved hill climbing algorithm based on maximum power point tracking control of wind power generation.
Background
With the increasing energy crisis, the development and utilization of renewable energy sources become more and more important. Wind power generation is a renewable energy source which is widely researched. How to capture wind energy with maximum efficiency and prolong the service life of a unit is a hot problem of wind power generation research. The variable-speed constant-frequency wind Power generation system provides a technical approach for Maximum wind energy Tracking, the rotating speed of the fan is adjusted in real time according to the change of the wind speed, and the condition that the fan runs on the MPP is a basic idea for realizing Maximum Power Point Tracking (MPPT).
Common maximum power point tracking algorithms include a leaf tip speed ratio method, a power curve method and a hill climbing method. The MPP can be searched in a self-adaptive mode by the hill climbing method, and wind speed measurement and the prior knowledge of the characteristic parameters of the fan are not relied on, so that the MPP is widely applied to small wind turbines. However, the mountain climbing method has attracted more and more attention to the problems of rotation speed oscillation at the MPP, contradiction between search speed and wind energy capture efficiency, and search direction misjudgment caused by wind speed change.
The judgment of the searching direction of the traditional hill climbing method depends on the changing direction of the output power, and the output power is influenced by the active rotating speed disturbance and the wind speed change. The random fluctuation of the wind speed enables the wind speed to be in a changing state in most of time, and the influence of the wrong search direction on the wind energy capture efficiency cannot be ignored. In addition, the conventional hill climbing method does not stop the disturbance but continues the disturbance after the MPP is searched, thereby causing the rotation speed and the output power to oscillate around the MPP. The long-term vibration of the transmission shaft system caused by the vibration can cause great damage to mechanical parts of the fan. The reason why the conventional hill-climbing method oscillates the rotating speed is that the conventional hill-climbing method does not have a maximum power point detection and stopping mechanism.
The hill climbing method is the MPPT method applied to the photovoltaic power generation system at the earliest, so the research on the two problems is mainly based on the field of photovoltaic power generation, and the related research based on the wind power generation system is less.
Disclosure of Invention
The invention aims to provide an improved hill climbing algorithm based on maximum power point tracking control of wind power generation, and the wind energy capture efficiency is greatly improved.
The technical solution for realizing the purpose of the invention is as follows: an improved hill climbing algorithm based on maximum power point tracking control of wind power generation comprises the following steps:
step (ii) of1. Initializing wind power generation maximum power point tracking control based on improved hill climbing algorithm, wherein the initialization content comprises measuring the initial rotating speed of a wind turbine
Measuring the initial output power corresponding to the wind power generation system
Setting an initial rotating speed disturbance step length and a first disturbance target rotating speed; the initialization of the tracking control of the maximum power point of the wind power generation based on the improved hill climbing algorithm specifically comprises the following steps:
wherein,
and
are respectively the firstkRotational speed and number of subsamplingk+1 rotation speed disturbance step length;
step 2, carrying out the first stepkAnd (4) secondary rotating speed disturbance, namely controlling the rotating speed to a disturbed target rotating speed, and measuring to obtain the output power of the system at the end
Checking step length of disturbance of rotation speed
If not, executing step 3; otherwise, executing step 5;
step 3, calculating the slope of the power-rotating speed curveCheck whether or not it satisfies
If not, executing step 4; otherwise, executing step 6; wherein
Is a very small positive number which is,
the size of the maximum power point determines the stopping time of the search algorithm and the difference between the stable working point and the maximum power point of the system;
step 4, adjusting coefficient for speed disturbance step length
Make a setting, i.e. setThen calculatekRotating speed disturbance step length of +1 step
Then, step 8 is executed, and the formula used is:
step 6, setting a disturbance step length adjustment coefficient
And calculatekRotating speed disturbance step length of +1 step
Then, step 8 is executed, and the formula used is:
；
step 7, calculatingkThe rotating speed disturbance step length of +1 step:
wherein
In order to restart the step size, then step 8 is executed;
wherein,
and
are respectively the firstkRotational speed and number of subsamplingk+Step length of 1 rotation speed disturbance, and then orderk=k+1 and return to step 2.
Compared with the prior art, the invention has the following remarkable advantages: 1) the invention promotes the high-efficiency development and utilization of new energy; 2) the improved hill climbing algorithm provided by the invention overcomes the rotation speed oscillation when the fan tracks to the vicinity of the MPP, and effectively reduces the abrasion of the oscillation to mechanical parts of the fan system; 3) the method overcomes the interference on the judgment of the search direction when the wind speed changes again after the algorithm stopping mechanism takes effect, thereby greatly improving the wind energy capturing efficiency; 4) the improved hill climbing algorithm provided by the invention is simple in principle and easy to realize.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a flow chart of an improved hill climbing algorithm based on maximum power point tracking control of wind power generation.
Fig. 2 is a rotation speed tracking curve (thick solid line — rotation speed oscillation at MPP) of the fixed step climbing method.
FIG. 3 is a rotation speed tracking curve of the improved hill-climbing method and the conventional variable step-length hill-climbing method (stepSearch direction determination error).
FIG. 4 is a fixed step climbing speed trace curve (
Search direction determination error).
FIG. 5 is a rotation speed tracking curve of the conventional variable step climbing method (C:)
Search direction determination error).
FIG. 6 is a curve of improved hill-climbing speed tracking (
The search direction is judged to be correct).
FIG. 7 is a fixed step climbing speed trace curve (Search direction determination error).
FIG. 8 is a rotation speed tracking curve of the conventional variable step climbing method (C)
Search direction determination error).
FIG. 9 is a curve of improved hill-climbing speed tracking (
The search direction is judged to be correct).
Detailed Description
The invention provides an MPP detection function and a stop/restart mechanism on the basis of the existing variable step climbing method. And the problem of interference of the wind speed on the search direction is partially solved, namely the interference of the wind speed change on the search direction judgment can be eliminated when the wind speed changes again after the stopping mechanism takes effect. Therefore, the undisturbed high-efficiency MPPT control at the MPP position is realized.
1. Realization principle of MPP detection and stop mechanism
When the wind speed is constant, the power-rotating speed curve of the wind turbine has a unique extreme value, and the extreme value point meets the requirement
. Wherein,
is the mechanical power of the wind turbine inW，
Is the wind turbine speed inrad/s. Therefore, willAs a search stop condition, and considers that the algorithm has detected MPP. Wherein,
for outputting power (due to mechanical power) to wind power generation systemThe measurement is difficult, and the output power after the response is stable is usually disturbed by the rotating speed in the implementation process of the hill climbing method
Instead of the former
），
Is a very small positive number which is,
the size of the MPP determines the stopping time of the search algorithm and the difference between the stable working point of the system and the MPP. The improved algorithm determines the perturbation step size from equation (1).
Wherein,k，k-1 andk+1 is the number of times of sampling,
is a coefficient for adjusting the disturbance step size and is also a parameter for controlling whether the improvement algorithm is stopped.
While in the process of the search,the setting of the method is consistent with that of the traditional variable step length hill climbing method; when it is satisfied with
At the moment, set up
Then, thenAnd the disturbance rotating speed is suspended, and the system is in a steady state.
2. Implementation principle of restart mechanism
The stopping mechanism is effective when the fan is operating at a constant wind speed MPP. At the moment, the fan is in a steady state and theoretically meets the requirementAnd is
. Only when the wind speed changes again is the wind speed,
. In this case, a rotational speed disturbance is to be reset
And starting a new round of searching process.
Rendering non-viable cells in improved hill climbing|>βSet as a condition for a search restart. I.e. when not charging
|>βThe wind speed is considered to be changed, and a new round of search is triggered. Wherein,βthe threshold value is a positive threshold value, and can shield the influence of weak fluctuation of the wind speed on the search restart judgment.
3. Anti-wind-speed interference after stopping mechanism takes effect
After the improved algorithm stops the rotation speed disturbance, the power exceeds the rotation speed disturbance for the first timeβThe amount of change in (c) can be considered to be entirely caused by the change in wind speed. At this time, as long as the wind speed does not have a large-amplitude sudden change, it can be considered that
Wherein
Is the wind speed variation. And the optimal rotating speed at different wind speeds can be known from the optimal power curveIncreasing with increasing wind speed. Therefore, when the wind speed changes to restart the hill-climbing search algorithm, the search direction should satisfy
Wherein,the rotation speed disturbance amount when the algorithm is restarted. In this way, the problem of erroneous judgment of the search direction can be overcome when the wind speed changes again after the stopping mechanism is effective.
With reference to fig. 1, the improved hill climbing algorithm based on maximum power point tracking control of wind power generation of the present invention includes the following steps:
wherein,and
are respectively the firstkRotational speed and number of subsamplingk+1 rotation speed disturbance step length;
step 2, carrying out the first stepkAnd (4) secondary rotating speed disturbance, namely controlling the rotating speed to a disturbed target rotating speed, and measuring to obtain the output power of the system at the end
Checking step length of disturbance of rotation speed
If not, executing step 3; otherwise, executing step 5;
step 3, calculating the slope of the power-rotating speed curveCheck whether or not it satisfiesIf not, executing step 4; otherwise, executing step 6; wherein
Is a very small positive number which is,the size of the maximum power point determines the stopping time of the search algorithm and the difference between the stable working point and the maximum power point of the system;
step 4, adjusting coefficient for speed disturbance step length
Make a setting, i.e. setThen calculatekRotating speed disturbance step length of +1 step
Then, step 8 is executed, and the formula used is:
；
step 6, setting a disturbance step length adjustment coefficient
And calculatekRotating speed disturbance step length of +1 step
Then, step 8 is executed, and the formula used is:
step 7, calculatingkThe rotating speed disturbance step length of +1 step:
wherein
In order to restart the step size, then step 8 is executed;
wherein,
and
are respectively the firstkRotational speed and number of subsamplingk+Step length of 1 rotation speed disturbance, and then orderk=k+1 and return to step 2.
The present invention is described in further detail below with reference to examples:
the method adopts step wind speed, periodic slope wind speed and complex wind speed to carry out comparative analysis on the fixed step climbing method, the traditional variable step climbing method and the improved climbing method from the two aspects of rotating speed tracking and wind energy capturing efficiency.
Wherein the fan parameters are as follows: the radius of the wind turbine is 2.5m, the rated wind speed is 12m/s, the wind turbine is direct-drive type, and the equivalent rotational inertia of the system is 22.16 kg.m2The optimum tip speed ratio is
，
The maximum electromagnetic torque is 6.65e2N · m. The parameters of the improved hill climbing algorithm are as follows:a=1.0e-2，
，
，
with a period of disturbance ofT s =0.1s。
Establishing a wind power generation system model, compiling an improved hill climbing algorithm program, realizing MPPT control by utilizing the improved hill climbing algorithm, and specifically performing the following steps:
running the wind power generation system model (the improved hill climbing algorithm program will run simultaneously) toT s The rotational speed disturbance is performed for a period.
step 2, carrying out the first stepkDisturbing the secondary rotating speed, and measuring the output power of the system when the secondary rotating speed is finished
Checking step length of disturbance of rotation speed
If not, executing step 3; otherwise, executing step 5;
step 3, calculating
Check whether or not it satisfiesIf not, executing step 4; otherwise, executing step 6;
step 4, setting
Then calculatekRotating speed disturbance step length of +1 step
Then, step 8 is executed, and the formula used is:
step 6, setting
And calculatekRotating speed disturbance step length of +1 step
Then, step 8 is executed, and the formula used is:
step 7, calculatingkThe rotating speed perturbation step length of the +1 step is carried out, and then the step 8 is carried out; the formula used is:
then orderk=k+1 and return to step 2.
The rotating speed control according to the steps enables the wind power generation system to track the maximum power point under different wind conditions, namely, the maximum power point tracking control is realized.
1. Step wind speed
A. Rotational speed tracking contrast analysis
The rotational speed tracking of the wind power generation system on the step wind speed is compared and analyzed by combining the graph 2 and the graph 3.
B. Comparison of wind energy capture efficiency
And carrying out comparative analysis on the wind energy capture efficiency of the wind power generation system to the step wind speed. Calculating the wind energy capture efficiency of three hill climbing algorithms, wherein the formula is as follows:
wherein,ΔP maxin order to have a loss of power,P realin order to actually capture the wind energy,P maxthe time is the simulation duration for the maximum power that should be theoretically captured.
The capture efficiency of the fixed step climbing method is 97.11 percent; the traditional variable step climbing method is 97.53%; the improved hill climbing method is 99.2 percent.
By comparison it can be seen that:
(1) the conventional hill climbing method does not have the maximum power point detection and stopping mechanism, which causes the rotation speed to oscillate near the MPP (as shown in fig. 2 and fig. 3), and the rotation speed disturbance is stopped after the improved hill climbing method searches for the MPP, as shown in fig. 3. The characteristic improves the abrasion of the rotating speed oscillation to mechanical parts, and has certain significance for prolonging the service life of the unit;
(2) the improved hill climbing method overcomes the interference of the wind speed change on the judgment of the search direction when the wind speed changes again after the stopping mechanism takes effect, but the traditional hill climbing method is interfered by the wind speed change to generate an error search direction, as shown by a dotted oval mark in fig. 3.
2. Periodic ramp wind speed
A. Rotational speed tracking contrast analysis
The rotational speed tracking of the wind power generation system on the periodic slope wind speed is compared and analyzed with the aid of fig. 4, 5 and 6.
B. Comparison of wind energy capture efficiency
And carrying out comparative analysis on the wind energy capture efficiency of the wind power generation system on the periodic slope wind speed. Calculating the wind energy capture efficiency of three hill climbing algorithms, wherein the formula is as follows:
the capture efficiency of the fixed step climbing method is 95.09%; the traditional variable step climbing method is 96.74 percent; the improved hill climbing method is 97.43%.
Note that: the improved algorithm still has a wrong search direction (e.g. speed fluctuation during all ramp wind speeds in fig. 6) before the stopping mechanism is not effective, which is where the algorithm still needs to be improved. Because the same misjudgment problem exists in the other two algorithms, the simulation result only compares with the parts (namely 10s, 30s, 50s and 70s in fig. 6 and 18s, 57s and 80s in fig. 9) which can be overcome by the improved algorithm and cannot be overcome by the traditional algorithm, so as to ensure the referential property of the comparison result.
From the above comparison it can also be seen that: compared with the traditional algorithm, the improved algorithm overcomes the rotation speed oscillation at the MPP (such as local amplification in fig. 5 and 6) and the interference to the search direction when the wind speed changes again after the algorithm stopping mechanism takes effect, and improves the capture efficiency.
3. Complex wind speed
A. Rotational speed tracking contrast analysis
The rotational speed tracking of the wind power generation system to the complex wind speed is compared and analyzed with the combination of fig. 7, fig. 8 and fig. 9.
B. Comparison of wind energy capture efficiency
And carrying out comparative analysis on the wind energy capture efficiency of the wind power generation system to the complex wind speed. Calculating the wind energy capture efficiency of three hill climbing algorithms, wherein the formula is as follows:
the capture efficiency of the fixed step climbing method is 96.07 percent; the traditional variable step climbing method is 95.3 percent; the improved hill climbing method is 96.66 percent.
As can be seen from fig. 9, after the stopping mechanism is in effect, the improved hill climbing method keeps the rotating speed constant, abandons the tracking of the small fluctuation of the wind speed, reduces the probability of the wrong search direction caused by the disturbance of the wind speed compared with the traditional hill climbing method, and ensures the correctness of the search direction when the wind speed changes again. The probability of errors in the search direction is reduced on the whole, and the capture efficiency under the complex wind speed is improved.
Claims (2)
1. An improved hill climbing algorithm based on maximum power point tracking control of wind power generation is characterized by comprising the following steps:
step 1, initializing wind power generation maximum power point tracking control based on an improved hill climbing algorithm, wherein the initialization content comprises the measurement of the initial rotating speed of a wind turbine
Measuring the initial output power corresponding to the wind power generation systemSetting an initial rotating speed disturbance step length and a first disturbance target rotating speed;
step 2, carrying out the first stepkAnd (4) secondary rotating speed disturbance, namely controlling the rotating speed to a disturbed target rotating speed, and measuring to obtain the output power of the system at the end
Checking step length of disturbance of rotation speed
If not, executing step 3; otherwise, executing step 5;
step 3, calculating the slope of the power-rotating speed curve
Check whether or not it satisfies
If not, executing step 4; otherwise, executing step 6; whereinIs a very small positive number which is,
the size of the maximum power point determines the stopping time of the search algorithm and the difference between the stable working point and the maximum power point of the system;
step 4, adjusting coefficient for speed disturbance step length
Make a setting, i.e. set
CalculatingkRotating speed disturbance step length of +1 step
Then, step 8 is executed, and the formula used is:
step 5, checking the output power variation
Whether or not greater thanβIf not, executing step 6; otherwise, step 7 is performed, whereinβThe wind speed is a positive threshold value which can shield the influence of weak fluctuation of the wind speed on the search restart judgment;
step 6, setting a disturbance step length adjustment coefficient
And calculatekRotating speed disturbance step length of +1 step
Then, step 8 is executed, and the formula used is:
step 7, calculatingkThe rotating speed disturbance step length of +1 step:
wherein
In order to restart the step size, then step 8 is executed;
step 8, calculatingk+1 step perturbed target speed
The formula used is:
wherein,
and
are respectively the firstkRotational speed and number of subsamplingk+Step length of 1 rotation speed disturbance, and then orderk=k+1 and return to step 2.
2. The improved hill climbing algorithm based on the maximum power point tracking control of wind power generation according to claim 1, wherein the step 1 of initializing the maximum power point tracking control of wind power generation based on the improved hill climbing algorithm specifically comprises:
step 11, measuring the initial rotating speed of the wind turbineInitial output power corresponding to wind power generation system
；
Step 12, setting the sampling timesk=0, setting the initial speed disturbance step length
Calculatingk+Perturbing the target speed by 1 step, and then commandingk=k+1, the formula used is:
wherein,
and
are respectively the firstkRotational speed and number of subsamplingk+Step size is disturbed at 1 rotation speed.
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| CN102434391A (en) * | 2011-12-27 | 2012-05-02 | 南京理工大学 | Improved MPPT (maximum power point tracking) control method based on initial rotation speed adjustment |
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