CN102506011B - Synchronous correction method of pitch position of variable pitch wind generating set - Google Patents

Synchronous correction method of pitch position of variable pitch wind generating set Download PDF

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Publication number
CN102506011B
CN102506011B CN2011104533938A CN201110453393A CN102506011B CN 102506011 B CN102506011 B CN 102506011B CN 2011104533938 A CN2011104533938 A CN 2011104533938A CN 201110453393 A CN201110453393 A CN 201110453393A CN 102506011 B CN102506011 B CN 102506011B
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oar
change
becomes
pitch
submodule
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CN102506011A (en
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孙黎翔
纪国瑞
潘磊
朱宁
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Guodian United Power Technology Co Ltd
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Guodian United Power Technology Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Abstract

The invention relates to a synchronous correction method of a pitch position of a variable pitch wind generating set. A pitch position synchronous correction module is inserted between a paddle-changing controller and a paddle-changing actuator, and the pitch position synchronous correction module receives a unified paddle-changing speed rate instruction R from the paddle-changing controller; and three modificative different paddle-changing speed rates R1',R2' and R3' after correction treatment are output to the paddle-changing actuator, the paddle-changing actuator controls respective electric paddle changing drivers of three blades to execute operation according to the three paddle-changing speed rates R1',R2' and R3' after correction, thereby realizing synchronization. The method provided by the invention can effectively realize the synchronization of a paddle-changing position, has important meaning for reducing the pneumatic unbalanced load of a set, increases the safe operation desiring quantity of the set, and prolongs the service life of the set.

Description

Synchronous correction method of pitch position of variable pitch wind generating set
Technical field
The present invention relates to a kind of method of coreection of pitch-controlled wind-driven generator group pitch position, be specifically related to a kind of synchronous correction method of pitch position of variable pitch wind generating set.
Background technique
Modern large-scale wind power generating set is mainly the pitch-controlled wind-driven generator group.The pitch-controlled wind-driven generator group refers to that whole blade, around the rotation of blade central shaft, changes attack angle of blade, so that regulation output power is no more than the design admissible value in certain limit (general 0 °-90 °).The general leaf of pitch-controlled wind-driven generator group is wide little, and blade is light, does not need very large brake, and startability is good.It rotates regulating power by drive vane along its longitudinal shaft, with the fixed pitch wind power generating set, compares, and in low air density area, still can reach rated power, after rated wind speed, output power can keep relative stability, and guarantees higher generated energy, and has stronger impeller braking ability.
When in the above operating mode of rated wind speed, the pitch-controlled wind-driven generator group keeps the stable of power stage, wheel speed and generator speed by the propeller pitch angle position of three blades of dynamic change.The pitch-controlled wind-driven generator set product of main flow adopts electric variable propeller system more at present, control the main unified feather control that adopts for feather, the independent mode of carrying out,, each control cycle, become the oar controller and calculate a propeller pitch angle position according to the operation real time data, as the unified instruction of three vane propeller-changing positions, then three blades are carried out by electric variable pitch driving separately respectively.Although receive identical position command, three blades are due to reasons such as actuator drift about, aerodynamic loading is unbalanced, and its physical location tends to occur asynchronous.The asynchronous meeting of blade causes pneumatic imbalance, increases the limit load of unit and change oar drive system, and serious meeting causes parts damages, can only stoppage protection when three leaf position gaps are larger.
Summary of the invention
The purpose of this invention is to provide a kind of synchronous correction method of pitch position of variable pitch wind generating set.
For reaching above-mentioned purpose, the present invention has adopted following technological scheme:
A kind of synchronous correction method of pitch position of variable pitch wind generating set, turn in to a pitch position synchronous correction module between change oar controller and change oar actuator, pitch position synchronous correction module receives the unified oar speed instruction R that becomes, the different oar speed R that become of three of will revise after calibrated processing from becoming the oar controller 1', R 2' and R 3' export to change oar actuator, become oar actuator according to above-mentioned three oar of the change through overcorrect speed R 1', R 2' and R 3' control three blades electric variable pitch separately to drive executable operations, realize synchronous.
Described synchronous correction method of pitch position of variable pitch wind generating set, wherein, described pitch position synchronous correction module is the PLC programming module, comprise and become oar reference by location submodule, first becomes oar rate correction submodule, second becomes oar rate correction submodule and the 3rd becomes oar rate correction submodule, becoming oar reference by location submodule is connected with change oar controller, first becomes oar rate correction submodule, second become oar rate correction submodule and the 3rd become oar rate correction submodule respectively with become the oar controller, become oar reference by location submodule and become oar actuator and be connected.
Described synchronous correction method of pitch position of variable pitch wind generating set, wherein, described change oar reference by location submodule, in order to receive the change oar speed instruction R that becomes the output of oar controller, and calculate phase strain oar reference by location Pref;
Described first becomes oar rate correction submodule, in order to receive the actual measurement that becomes the output of oar controller, becomes oar position P 1With change oar speed instruction R, receive the change oar reference by location Pref that becomes the output of oar reference by location submodule, and calculate the sub-R of the first change oar rate correction of pitch-controlled wind-driven generator group pitch 1';
Described second becomes oar rate correction submodule, in order to receive the actual measurement that becomes the output of oar controller, becomes oar position P 2With change oar speed instruction R, receive the change oar reference by location Pref that becomes the output of oar reference by location submodule, and calculate the sub-R of the second change oar rate correction of pitch-controlled wind-driven generator group pitch 2';
The described the 3rd becomes oar rate correction submodule, in order to receive the actual measurement that becomes the output of oar controller, becomes oar position P 3With change oar speed instruction R, receive the change oar reference by location Pref that becomes the output of oar reference by location submodule, and calculate the sub-R of the 3rd change oar rate correction of pitch-controlled wind-driven generator group pitch 3';
Described first becomes oar rate correction submodule, the second change oar rate correction submodule and the 3rd change oar rate correction submodule respectively by the sub-R of the first change oar rate correction 1', second become the sub-R of oar rate correction 2', the 3rd become the sub-R of oar rate correction 3' export to and become oar actuator executable operations.
Described synchronous correction method of pitch position of variable pitch wind generating set, wherein, described synchronous correction module specifically realizes synchronous correction by following steps:
Step 1: read the change oar speed R that becomes a control cycle of oar controller;
Step 2: the R integral and calculating is obtained becoming oar reference position Pref, and computational methods are as follows:
Pref＝Pref(-1)+R*DT，
Wherein, Pref (1) means the value of an execution cycle Pref, and DT is the time step of an execution cycle;
Step 3: loop index i is set, and i represents blade order, gets successively 1,2 and 3;
Step 4: the actual blade pitch position and the deviation of controlling reference position: D of calculating i blade by following formula i=P i-Pref, wherein D iBe the positional deviation of i blade, P iFor certainly becoming the physical location of i the blade read in the oar controller;
Step 5: by gained deviation D in step 4 iBe multiplied by correction factor g, the speed instruction after calculation correction: R i'=D i* g+R i, R wherein i' be the speed after proofreading and correct, R iBe the speed calculated by change oar controller before proofreading and correct, correction factor g is 0.1-0.6;
Step 6: repeating step 3-5 obtains respectively the speed instruction R proofreaied and correct 1', R 2' and R 3', by R 1', R 2' and R 3' be transported to change oar actuator to carry out correction data.
Synchronous correction method of pitch position of variable pitch wind generating set of the present invention, wherein, the initial value of described Pref execution cycle arranges according to set state, and the initial value of first execution cycle is 90 degree.
Synchronous correction method of pitch position of variable pitch wind generating set of the present invention, wherein, described correction factor g is the track according to three blades of the pitch-controlled wind-driven generator group of actual measurement, in the working control process, the propeller pitch angle position of three blades is along with the situation of change of time, be worth as a comparison, what progressively in the 0.1-0.6 interval range, adjustment obtained; Concrete adjusting method, for first getting 0.1 rear survey blade track, is contrasted with above-mentioned blade track reduced value, and progressively parameter value is adjusted in rise, measures blade track comparison one by one, chooses the identical best numerical value of blade track and reduced value and is correction factor g.
Synchronous correction method of pitch position of variable pitch wind generating set of the present invention, wherein, described correction factor g is 0.3.
Synchronous correction method of pitch position of variable pitch wind generating set of the present invention, time step DT is 0.02s.
Synchronous correction method of pitch position of variable pitch wind generating set of the present invention, but synchronous correction pitch-controlled wind-driven generator group pitch position, the application of this method can realize becoming the synchronous of oar position effectively, for the pneumatic unbalanced load that reduces unit, play an important role, can increase unit safety operation wish amount, increase the working life of unit.
The accompanying drawing explanation
Fig. 1 is pitch-controlled wind-driven generator group pitch position synchronous correction control principle drawing;
Fig. 2 is the flow chart of synchronous correction method of pitch position of variable pitch wind generating set in the PLC system;
The another kind of flow chart that Fig. 3 is synchronous correction method of pitch position of variable pitch wind generating set.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further detailed.
Shown in Figure 1, a kind of synchronous correction method of pitch position of variable pitch wind generating set, tie up between change oar controller 1 and change oar actuator 3 and add a pitch position synchronous correction module 2.Pitch position synchronous correction module 2 receives the unified oar speed instruction R (this change oar speed instruction R calculates by becoming oar controller 1) that becomes, three different oar speed R that become that will revise after calibrated processing from becoming oar controller 1 1', R 2' and R 3' export to change oar actuator 3, become oar actuator 3 according to above-mentioned three oar of the change through overcorrect speed R1 ', R 2' and R 3' control three blades electric variable pitch separately to drive executable operations, to guarantee three leaf positions, realize synchronous.
Synchronous correction method of pitch position of variable pitch wind generating set, specifically can realize according to the mode of Fig. 2 or Fig. 3.
The master control system of realizing for using PLC can be built the PLC block diagram according to the block diagram of Fig. 2 and realize, block diagram shown in Fig. 2 module used is all the PLC programming module of standard, can find in general PLC programmed environment, in order to realize the block diagram shown in Fig. 2, generally have the following steps:
Step 1: open the PLC development environment, a newly-built PLC submodule;
Step 2: build the submodule logic according to the block diagram shown in Fig. 2, (illustrated module is the standard module of PLC, can from module library, take out, and according to illustrated mode line, gets final product.)
Step 3: compiling checks logic and the link of submodule;
Step 4: preserve, and compiling output;
Step 5: the submodule write is embedded in unit control PLC program.
The submodule of specifically building in step 2 comprises that becoming oar reference by location submodule, first becomes oar rate correction submodule, the second change oar rate correction submodule and the 3rd change oar rate correction submodule.Wherein, change oar reference by location submodule is connected with change oar controller, and the first change oar rate correction submodule, second becomes oar rate correction submodule and the 3rd change oar rate correction submodule is connected with change oar controller, change oar reference by location submodule and change oar actuator respectively.
Change oar reference by location submodule wherein, in order to receive the change oar speed instruction R that becomes the output of oar controller, and calculate phase strain oar reference by location Pref.First becomes oar rate correction submodule, in order to receive the actual measurement that becomes the output of oar controller, becomes oar position P 1With change oar speed instruction R 1, receive the change oar reference by location Pref that becomes the output of oar reference by location submodule, and calculate the sub-R of the first change oar rate correction of pitch-controlled wind-driven generator group pitch 1'.Second becomes oar rate correction submodule, in order to receive the actual measurement that becomes the output of oar controller, becomes oar position P 2With change oar speed instruction R 2, receive the change oar reference by location Pref that becomes the output of oar reference by location submodule, and calculate the sub-R of the second change oar rate correction of pitch-controlled wind-driven generator group pitch 2'.The 3rd becomes oar rate correction submodule, in order to receive the actual measurement that becomes the output of oar controller, becomes oar position P 3With change oar speed instruction R 3, receive the change oar reference by location Pref that becomes the output of oar reference by location submodule, and calculate the sub-R of the 3rd change oar rate correction of pitch-controlled wind-driven generator group pitch 3'.Change oar speed instruction R now 1, R 2And R 3Be equal to and be received from the change oar speed instruction R that becomes the output of oar controller.
Then the first sub-R of the first change oar rate correction after becoming oar rate correction submodule, second and becoming oar rate correction submodule and the 3rd and become oar rate correction submodule and will proofread and correct respectively 1', second become the sub-R of oar rate correction 2', the 3rd become the sub-R of oar rate correction 3' export to and become oar actuator executable operations.
Master control system for application C language or other language developments can be realized according to the programming of the block diagram shown in Fig. 3.
It specifically realizes forming by following steps:
Step 1: read the change oar speed R that becomes a control cycle of oar controller;
Step 2: the R integral and calculating is obtained becoming oar reference position Pref, and computational methods are as follows:
Pref＝Pref(-1)+R*DT，
Wherein, Pref (1) means the value of an execution cycle Pref, and the initial value of initial execution cycle arranges according to set state, and first execution cycle unit just powers on, and in outage state, initial value is generally 90 degree.DT is the time step of calculating; The calculating of DT is to obtain according to the performance requirement of control system, is the step-length of an execution cycle, usually gets 0.02s.
Step 3: loop index i is set, and i represents blade order, gets successively 1,2 and 3;
Step 4: the actual blade pitch position and the deviation of controlling reference position: D of calculating i blade by following formula i=P i-Pref, wherein D iBe the positional deviation of i blade, P iBe the physical location of i blade, the physical location of blade directly reads and obtains from become the oar controller.Pref is the reference position that previous step is calculated.
Step 5: by gained deviation D in step 4 iBe multiplied by correction factor g, the speed instruction after calculation correction: R i'=D i* g+R i, wherein correction factor g is 0.1-0.6, wherein R i' be the speed after proofreading and correct, R iBe the speed calculated by change oar controller before proofreading and correct, correction factor g is 0.1-0.6, and the span here is a value of estimating, and in practical operation, different units will carry out necessary test, observes operational effect and determines concrete value;
Step 6:i gets 1,2 and 3 successively, repeats step 4 and 5, draws successively the change oar speed instruction R of first, second, and third blade after correction 1', R 2' and R 3';
Step 7: by the speed instruction R proofreaied and correct 1', R 2' and R 3' export to and become oar actuator.
Correction factor g can exist by arranging and defining as a systematic parameter variable, makes the commissioning staff can adjust by man-machine interface the size of the value of g, thus the calibration result of having realized.It can according to the track of three blades of the pitch-controlled wind-driven generator group of actual measurement, (track refers in control procedure, the propeller pitch angle position of three blades is along with the situation of change of time) be worth as a comparison, what progressively in the 0.1-0.6 interval range, adjustment obtained, concrete adjusting method is for first getting 0.1 rear survey blade track, with above-mentioned blade track reduced value contrast, progressively rise is adjusted parameter value and is measured blade track comparison one by one, chooses the identical best numerical value of blade track and reduced value and is correction factor g.It is good generally getting 0.3 left and right.
Definite method of correction factor g, divide two stages usually, in the unit design stage, can pass through emulation platform, and the operation simulated program carries out real-time operation, obtains the result of simulation comparison, according to scope, the Method and Process of foregoing description, is adjusted.In the unit experimental stage, need to gather actual operating data, the propeller pitch angle position in running is contrasted, according to above-mentioned scope, Method and Process, adjusted; Need to carry out necessary parameter adjustment test, guarantee calibration result to correction factor g for different pitch-controlled systems.
The above, be only preferred embodiment of the present invention, not the present invention done to any pro forma restriction.Any change be equal to, modification or differentiation etc. that all those skilled in the art utilize technological scheme of the present invention to make above-described embodiment, all still belong in the scope of technical solution of the present invention.

Claims (1)

1. a synchronous correction method of pitch position of variable pitch wind generating set is characterized in that:
Add a pitch position synchronous correction module between change oar controller and change oar actuator, pitch position synchronous correction module receives unified change oar speed instruction R from becoming the oar controller, and three of will revise after calibrated processing difference becomes oar speed R 1', R 2' and R 3' export to change oar actuator, become oar actuator according to above-mentioned three oar of the change through overcorrect speed R1 ', R 2' and R 3' control three blades electric variable pitch separately to drive executable operations, realize synchronous;
Described pitch position synchronous correction module is the PLC programming module, comprise that becoming oar reference by location submodule, first becomes oar rate correction submodule, the second change oar rate correction submodule and the 3rd change oar rate correction submodule, change oar reference by location submodule is connected with change oar controller, and the first change oar rate correction submodule, second becomes oar rate correction submodule and the 3rd change oar rate correction submodule is connected with change oar controller, change oar reference by location submodule and change oar actuator respectively;
Described change oar reference by location submodule, in order to receive the change oar speed instruction R that becomes the output of oar controller, and calculate phase strain oar reference by location Pref;
Described first becomes oar rate correction submodule, in order to receive the actual measurement that becomes the output of oar controller, becomes oar position P 1With change oar speed instruction R, receive the change oar reference by location Pref that becomes the output of oar reference by location submodule, and calculate the first change oar speed R of pitch-controlled wind-driven generator group pitch 1';
Described second becomes oar rate correction submodule, in order to receive the actual measurement that becomes the output of oar controller, becomes oar position P 2With change oar speed instruction R, receive the change oar reference by location Pref that becomes the output of oar reference by location submodule, and calculate the second change oar speed R of pitch-controlled wind-driven generator group pitch 2';
The described the 3rd becomes oar rate correction submodule, in order to receive the actual measurement that becomes the output of oar controller, becomes oar position P 3With change oar speed instruction R, receive the change oar reference by location Pref that becomes the output of oar reference by location submodule, and calculate the 3rd change oar speed R of pitch-controlled wind-driven generator group pitch 3';
Described first becomes oar rate correction submodule, the second change oar rate correction submodule and the 3rd change oar rate correction submodule respectively by the first change oar speed R 1', second become oar speed R 2', the 3rd become oar speed R3 ' and export to and become oar actuator executable operations.
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CN110529335B (en) * 2019-09-29 2020-10-13 三一重能有限公司 Control method for inhibiting overspeed of fan and wind generating set
CN113031527B (en) * 2019-12-25 2023-05-30 新疆金风科技股份有限公司 Multi-axis synchronous pitch control method, device and system
CN113132196B (en) * 2019-12-31 2022-09-27 新疆金风科技股份有限公司 Process data protection method and device for bus system of wind generating set
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