CN102705160B - Rotating speed control method and device of wind generation set - Google Patents
Rotating speed control method and device of wind generation set Download PDFInfo
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Abstract
The invention discloses a rotating speed control method and device of a wind generation set. The rotating speed control method of the wind generation set comprises the following steps of: obtaining a current working condition of the wind generation set; judging whether the current working condition of the wind generation set is a normal working condition or not; and when the current working condition of the wind generation set is in an improper working condition, controlling a rotating speed of a rotor of the wind generation set to stabilize the rotating speed of the wind generation set. According to the invention, a corresponding control policy is formulated aiming at the problem which is possibly caused by the wind generation set under the improper working condition, so that under the improper working condition, the rotating speed of the rotor is adjusted by executing the pre-formulated control policy aiming at the working condition, namely the rotating speed of the wind generation set can be better stabilized; and therefore, the set can be safely operated for a long period of time under the improper working conditions including voltage fluctuation of a power grid and the like.
Description
Technical Field
The invention relates to the field of wind power generation, in particular to a rotating speed control method and a rotating speed control device for a wind turbine generator.
Background
In the current wind power generation equipment, a variable-pitch variable-speed wind turbine generator is a mainstream type. Because wind energy has randomness and uncertainty, the rotating speed of the wind turbine generator also changes along with the wind speed, and the change of the rotating speed of the wind turbine generator can influence the electric energy quality and load of the wind turbine generator, so how to ensure the stability of the rotating speed of the wind turbine generator under various working conditions is a key technology for designing the wind turbine generator, wherein the rotating speed protection control of the wind turbine generator is very important under abnormal working conditions such as power grid voltage fluctuation, power grid power failure, extreme gust and the like.
In the prior art, the rotating speed of a generator is adjusted in real time along with the change of the wind speed under the rated power through power control, so that a wind generating set operates at the maximum power point, and the wind energy absorption efficiency of the wind generating set is improved as much as possible; above the rated value, the propeller pitch is adjusted through the propeller pitch control system, the rotating speed of the unit is stabilized, the load of the unit is limited, and the stable output of power is ensured. Below the rated power, the rotating speed of the wind generating set is within an allowable range, and above the rated power, the rotating speed of the set is the rated rotating speed and changes along with the change of the wind speed. Therefore, the variable pitch control system is the key for stabilizing the rotating speed of the unit. A typical pitch control system is shown in FIG. 1.
The system can well control the wind turbine generator to run and be connected to the grid for power generation in a normal state. However, the environment of the wind turbine generator is complex, and the control strategy cannot be used for pertinently solving the problem of controlling the rotating speed of the wind turbine generator under the abnormal working condition. For example, (1) the voltage of the power grid fluctuates and is lower than the voltage range (namely, the low voltage ride through state) of normal operation of the unit, the active power of the unit is rapidly reduced, the existing variable pitch control system is slow in response, the rotating speed of the unit is increased, and overspeed is caused. (2) The voltage of a power grid fluctuates and is higher than the voltage range of normal operation of the wind turbine generator (namely, a high voltage ride through state), the active power of the wind turbine generator is rapidly reduced, and the existing variable pitch control system is slow in response, so that the wind turbine generator is overspeed. (3) The voltage fluctuation of a power grid is serious, a unit cannot normally operate, the unit is immediately disconnected in order to protect the unit, the active power of the unit is rapidly reduced to zero, and the existing variable-pitch control system is slow in response, so that the wind turbine generator is overspeed. (4) Under the condition of extreme gust, the unit can quickly respond to the change of the wind speed to enable the unit to overspeed.
Aiming at the problem that the wind turbine generator set in the related technology cannot ensure stable rotating speed of the generator set under abnormal working conditions, an effective solution is not provided at present.
Disclosure of Invention
The invention provides a method and a device for controlling the rotating speed of a wind turbine generator, which at least solve the problem that the rotating speed of the wind turbine generator cannot be ensured to be stable under abnormal working conditions.
In order to achieve the above object, according to one aspect of the present invention, a method for controlling a rotational speed of a wind turbine is provided.
The rotating speed control method of the wind turbine generator comprises the following steps: acquiring the current working condition of the wind turbine generator; judging whether the current working condition of the wind turbine generator is a normal working condition or not; and when the current working condition of the wind turbine generator is an abnormal working condition, controlling the wind turbine generator to adjust the rotating speed of the rotor so as to stabilize the rotating speed of the wind turbine generator.
Further, acquiring the current working condition of the wind turbine generator comprises: the method comprises the following steps of obtaining a current power grid voltage value of the wind turbine generator, and judging whether the current working condition of the wind turbine generator meets preset conditions or not: judging whether the obtained current power grid voltage value of the wind turbine generator is within a preset voltage range, wherein when the obtained current power grid voltage value of the wind turbine generator is within the preset voltage range, the current working condition of the wind turbine generator is determined to be a normal working condition, and when the obtained current power grid voltage value of the wind turbine generator is out of the preset voltage range, the current working condition of the wind turbine generator is determined to be an abnormal working condition.
Further, acquiring the current voltage value of the wind turbine generator includes: sending an instruction for acquiring the current voltage value of the wind turbine generator to a frequency converter of the wind turbine generator, wherein the frequency converter is used for detecting the current voltage value of the wind turbine generator; and receiving the voltage value of the wind turbine generator from the frequency converter.
Further, acquiring the current working condition of the wind turbine generator comprises: obtaining the current rotor rotating speed of the wind turbine generator, and judging whether the current working condition of the wind turbine generator meets the preset condition or not comprises the following steps: and judging whether the obtained current rotor rotating speed of the wind turbine generator is within a preset rotor rotating speed range, wherein when the obtained current rotor rotating speed of the wind turbine generator is judged to be within the preset rotor rotating speed range, the current working condition is determined to be a normal working condition, and when the obtained current rotor rotating speed of the wind turbine generator is judged to be outside the preset rotor rotating speed range, the current working condition is determined to be an abnormal working condition.
Further, acquiring the rotor speed of the current wind turbine of the wind turbine includes: sending an instruction for acquiring the current rotor rotating speed of the wind turbine generator to a sensor of the wind turbine generator, wherein the sensor is used for detecting the current rotor rotating speed of the wind turbine generator; and receiving the current rotor speed of the wind turbine generator from the sensor.
Further, controlling the wind turbine to adjust the rotational speed to stabilize the rotor rotational speed of the wind turbine comprises: acquiring a correction coefficient for adjusting the rotating speed of the rotor; and regulating the control of the rotating speed of the rotor through the correction coefficient so as to stabilize the rotating speed of the wind generating set.
Further, obtaining a correction coefficient for adjusting the rotor speed includes: calculating a rotor rotating speed deviation value according to the current rotor rotating speed of the wind turbine generator and a preset rotor rotating speed range; calculating the change rate of the rotor speed deviation value by using the rotor speed deviation value; calculating the product of the rotor speed deviation value and the rotor speed deviation value change rate; when the product of the rotor speed deviation value and the rotor speed deviation value change rate is larger than a first threshold value, taking a first correction coefficient set by a user as a correction coefficient; when the product of the rotor speed deviation value and the rotor speed deviation value change rate is between a first threshold and a second threshold, taking a second correction coefficient set by a user as a correction coefficient, wherein the first threshold is larger than the second threshold; and when the product of the rotor speed deviation value and the rotor speed deviation value change rate is smaller than a second threshold value, taking a third correction coefficient set by a user as a correction coefficient.
Further, controlling the wind turbine to stabilize the rotational speed of the wind turbine comprises: determining that the current working condition is converted from an abnormal working condition to a normal working condition; and restoring the power to normal power.
In order to achieve the above object, according to another aspect of the present invention, there is provided a rotational speed control apparatus for a wind turbine generator, which is used for executing any one of the rotational speed control methods for a wind turbine generator provided by the present invention.
According to another aspect of the invention, a rotational speed control apparatus of a wind turbine is provided. This rotational speed control device of wind turbine generator system includes: the acquisition unit is used for acquiring the current working condition of the wind turbine; the judging unit is used for judging whether the current working condition of the wind turbine generator is a normal working condition or not; and the control unit is used for controlling the wind turbine generator to adjust the rotating speed of the rotor so as to stabilize the rotating speed of the wind turbine generator when the current working condition of the wind turbine generator is an abnormal working condition.
Further, the acquisition unit includes: the first acquisition subunit is used for acquiring the current grid voltage value of the wind turbine generator, and the judgment unit comprises: the first judging subunit is configured to judge whether the obtained current grid voltage value of the wind turbine generator is within a preset voltage range, determine that the current working condition of the wind turbine generator is a normal working condition when the obtained current grid voltage value of the wind turbine generator is determined to be within the preset voltage range, and determine that the current working condition of the wind turbine generator is an abnormal working condition when the obtained current grid voltage value of the wind turbine generator is determined to be outside the preset voltage range.
Further, the first acquiring subunit includes: the first sending module is used for sending an instruction for acquiring the current voltage value of the wind turbine generator to a frequency converter of the wind turbine generator, wherein the frequency converter is used for detecting the current voltage value of the wind turbine generator; and the first receiving module is used for receiving the voltage value of the wind turbine generator from the frequency converter.
Further, the acquisition unit includes: the second obtains the subunit for obtain the current rotor rotational speed of wind turbine generator system, and the judgement unit includes: and the second judging subunit is used for judging whether the obtained current rotor rotating speed of the wind turbine generator is within a preset rotor rotating speed range, wherein when the obtained current rotor rotating speed of the wind turbine generator is judged to be within the preset rotor rotating speed range, the current working condition is determined to be a normal working condition, and when the obtained current rotor rotating speed of the wind turbine generator is judged to be out of the preset rotor rotating speed range, the current working condition is determined to be an abnormal working condition.
Further, the second acquisition subunit includes: the second sending module is used for sending an instruction for acquiring the current rotor rotating speed of the wind turbine generator to a sensor of the wind turbine generator, wherein the sensor is used for detecting the current rotor rotating speed of the wind turbine generator; and the second receiving module is used for receiving the current rotor speed of the wind turbine generator from the sensor.
Further, the control unit includes: the third acquisition subunit is used for acquiring a correction coefficient for adjusting the rotating speed of the rotor; and an adjusting subunit, which is used for adjusting the control of the rotor rotation speed through the correction coefficient so as to stabilize the rotation speed of the wind turbine generator set.
Further, the third acquiring subunit includes: the first calculation module is used for calculating a rotor rotating speed deviation value according to the current rotor rotating speed of the wind turbine generator and a preset rotor rotating speed range; the second calculation module is used for calculating the change rate of the rotor rotation speed deviation value by using the rotor rotation speed deviation value; the third calculation module is used for calculating the product of the rotor rotating speed deviation value and the rotor rotating speed deviation value change rate; the first acquisition module is used for taking a first correction coefficient set by a user as a correction coefficient when the product of the rotor speed deviation value and the rotor speed deviation value change rate is greater than a first threshold value; the second obtaining module is used for taking a second correction coefficient set by a user as a correction coefficient when the product of the rotor speed deviation value and the rotor speed deviation value change rate is between a first threshold and a second threshold, wherein the first threshold is larger than the second threshold; and the third acquisition module is used for taking a third correction coefficient set by a user as the correction coefficient when the product of the rotor speed deviation value and the rotor speed deviation value change rate is smaller than a second threshold value.
Further, the control unit includes: the determining subunit is used for determining that the current working condition is converted from the abnormal working condition to the normal working condition; and a restoring subunit for restoring the power to the normal power.
According to the invention, a corresponding control strategy is formulated aiming at the problems possibly encountered by the wind turbine generator under the abnormal working condition, and then the control strategy formulated in advance aiming at the working condition is executed to adjust the rotating speed of the rotor under the abnormal working condition, so that the rotating speed of the wind turbine generator can be better stabilized, and therefore, the problem that the rotating speed of the wind turbine generator cannot be ensured to be stable under the abnormal working condition is solved, and the wind turbine generator can be safely operated for a long time under the abnormal working conditions such as power grid voltage fluctuation and the like.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of a prior art pitch control system;
fig. 2 is a block diagram of a structure of a rotational speed control apparatus of a wind turbine generator according to an embodiment of the present invention;
fig. 3 is a block diagram of a rotation speed control apparatus of a wind turbine generator according to a first preferred embodiment of the present invention;
fig. 4 is a block diagram of a rotation speed control apparatus of a wind turbine generator according to a second preferred embodiment of the present invention;
fig. 5 is a block diagram of a rotation speed control apparatus of a wind turbine generator according to a third preferred embodiment of the present invention;
FIG. 6 is a flow chart of a method of controlling the rotational speed of a wind turbine generator according to an embodiment of the present invention;
FIG. 7 is a schematic view of a pitch control system according to an embodiment of the invention;
FIG. 8 is a schematic diagram of a speed control system under abnormal operating conditions in accordance with an embodiment of the present invention; and
FIG. 9 is a schematic diagram of an adaptive PID controller according to an embodiment of the invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The embodiment of the invention provides a rotating speed control device of a wind turbine generator, which is introduced below.
Fig. 2 is a block diagram of a rotation speed control apparatus of a wind turbine generator according to an embodiment of the present invention.
As shown in fig. 2, the rotational speed control apparatus of a wind turbine generator includes an obtaining unit 11, a determining unit 12, and a control unit 13.
The obtaining unit 11 is used for obtaining the current working condition of the wind turbine.
According to different measurement indexes, different obtaining units 11 can be used for obtaining the current working condition, for example, when the current working condition of the wind turbine generator is obtained through the current grid voltage value of the wind turbine generator, the frequency converter can realize the function of the obtaining unit 11.
The judging unit 12 is configured to judge whether a current working condition of the wind turbine generator is a normal working condition.
The judgment unit 12 may be implemented by a CPU.
The control unit 13 is configured to control the wind turbine generator to adjust the rotation speed of the rotor to stabilize the rotation speed of the wind turbine generator when the current working condition of the wind turbine generator is an abnormal working condition.
The control unit 13 may be implemented by an adaptive PID controller.
In this embodiment, a corresponding control strategy is formulated for a problem that the wind turbine generator may encounter under an abnormal working condition, and then, when the wind turbine generator is under the abnormal working condition, the control strategy formulated in advance for the working condition is executed to adjust the rotation speed of the rotor, so that the rotation speed of the wind turbine generator can be better stabilized.
Fig. 3 is a block diagram of a rotation speed control apparatus of a wind turbine generator according to a first preferred embodiment of the present invention. This embodiment can be considered as a preferred implementation of the embodiment shown in fig. 2.
As shown in fig. 3, the rotational speed control apparatus of a wind turbine generator includes an obtaining unit 11, a determining unit 12, and a control unit 13, where the obtaining unit 11 includes a first obtaining subunit 111, and the determining unit 12 includes a first determining subunit 121.
The first obtaining subunit 111 is configured to obtain a current grid voltage value of the wind turbine.
The first obtaining subunit 111 may be implemented by a frequency converter of a wind turbine.
The first judging subunit 121 is configured to judge whether the obtained current grid voltage value of the wind turbine generator is within a preset voltage range, determine that the current working condition of the wind turbine generator is a normal working condition when the obtained current grid voltage value of the wind turbine generator is determined to be within the preset voltage range, and determine that the current working condition of the wind turbine generator is an abnormal working condition when the obtained current grid voltage value of the wind turbine generator is determined to be outside the preset voltage range.
Preferably, the first acquiring subunit may further include a first sending module and a first receiving module.
The first sending module is used for sending an instruction for acquiring the current voltage value of the wind turbine generator to a frequency converter of the wind turbine generator, wherein the frequency converter is used for detecting the current voltage value of the wind turbine generator. The first sending module may send the instruction uninterruptedly in real time, or may send the instruction periodically, and in this embodiment, to implement accuracy and timeliness of measurement, the instruction for obtaining the current voltage value of the wind turbine generator is selected to be sent in real time.
The first receiving module is used for receiving the voltage value of the wind turbine generator from the frequency converter.
In the embodiment, whether the current working condition is normal or abnormal is measured by taking the current grid voltage value of the wind turbine generator as a basis, and corresponding control is performed under different working conditions, so that the rotating speed of the rotor is stabilized more quickly.
Fig. 4 is a block diagram of a rotation speed control apparatus of a wind turbine generator according to a second preferred embodiment of the present invention. This embodiment can be considered as a preferred implementation of the embodiment shown in fig. 2.
As shown in fig. 4, the rotational speed control apparatus of a wind turbine generator includes an obtaining unit 11, a determining unit 12, and a control unit 13, where the obtaining unit 11 includes a second obtaining subunit 112, and the determining unit 12 includes a second determining subunit 122.
The second obtaining subunit 112 is configured to obtain a current rotor speed of the wind turbine.
The second acquisition subunit 112 may be implemented by a sensor for detecting the current rotor speed of the wind turbine.
The second judging subunit 122 is configured to judge whether the obtained current rotor rotation speed of the wind turbine generator is within a preset rotor rotation speed range, where when the obtained current rotor rotation speed of the wind turbine generator is determined to be within the preset rotor rotation speed range, it is determined that the current working condition is a normal working condition, and when the obtained current rotor rotation speed of the wind turbine generator is determined to be outside the preset rotor rotation speed range, it is determined that the current working condition is an abnormal working condition.
Preferably, the second acquiring subunit may further include a second sending module and a second receiving module.
The second sending module is used for sending an instruction for acquiring the current rotor rotating speed of the wind turbine generator to a sensor of the wind turbine generator, wherein the sensor is used for detecting the current rotor rotating speed of the wind turbine generator. The second sending module may send the instruction uninterruptedly in real time, or may send the instruction periodically, and in this embodiment, to implement accuracy and timeliness of measurement, the instruction for obtaining the current voltage value of the wind turbine generator is selected to be sent in real time.
The second receiving module is used for receiving the current rotating speed of the rotor of the wind turbine generator from the sensor.
In the embodiment, whether the current working condition is normal or abnormal is measured by taking the current rotor rotating speed of the wind turbine generator as a basis, and corresponding control is performed under different working conditions, so that the rotor rotating speed is stabilized more quickly.
Fig. 5 is a block diagram of a rotation speed control apparatus of a wind turbine generator according to a third preferred embodiment of the present invention. This embodiment can be considered as a preferred implementation of the embodiment shown in fig. 4.
As shown in fig. 5, the rotational speed control apparatus of a wind turbine generator includes an obtaining unit 11, a determining unit 12, a control unit 13, a second obtaining subunit 112, and a second determining subunit 122, where the control unit 13 includes a third obtaining subunit 131 and an adjusting subunit 132.
The third obtaining subunit 131 is configured to obtain a correction coefficient for adjusting the rotor speed.
The adjustment subunit 132 is used to adjust the control of the rotor speed by the correction factor to stabilize the speed of the wind turbine.
Preferably, the third obtaining sub-unit 131 may further include a first calculating module 1311, a second calculating module 1312, a third calculating module 1313, a first obtaining module 1314, a second obtaining module 1315, and a third obtaining module 1316.
The first calculation module 1311 is configured to calculate a rotor rotation speed deviation value according to the current rotor rotation speed of the wind turbine generator and a preset rotor rotation speed range;
the second calculating module 1312 is configured to calculate a variation rate of the rotor speed deviation value by using the rotor speed deviation value;
the third calculating module 1313 is configured to calculate a product of the rotor speed deviation value and the rotor speed deviation value change rate;
the first obtaining module 1314 is configured to take a first correction coefficient set by a user as a correction coefficient when a product of the rotor speed deviation value and the rotor speed deviation value change rate is greater than a first threshold;
the second obtaining module 1315 is configured to, when a product of the rotor speed deviation value and the rotor speed deviation value change rate is between a first threshold and a second threshold, use a second correction coefficient set by a user as the correction coefficient, where the first threshold is greater than the second threshold; and
the third obtaining module 1316 is configured to use a third correction coefficient set by a user as the correction coefficient when a product of the rotor speed deviation value and the rotor speed deviation value change rate is smaller than a second threshold.
Preferably, the control unit includes: the determining subunit is used for determining that the current working condition is converted from the abnormal working condition to the normal working condition; and a restoring subunit for restoring the power to the normal power.
In this embodiment, the control of the PID controller is adjusted by the control coefficient of the PID controller, thereby achieving the adjustment of the rotor speed.
An embodiment of the present invention provides that fig. 6 is a flowchart of a method for controlling a rotational speed of a wind turbine generator according to an embodiment of the present invention, and as shown in fig. 6, the method includes steps S602 to S606 as follows. In this embodiment, the execution main body of each step is a processor, and the effect of the embodiment of the present invention can be achieved by using other control devices or people as the execution main body.
And step S602, acquiring the current working condition of the wind turbine generator.
The judgment of the working condition type has no fixed standard, and the judgment can be carried out through various parameter values, in the embodiment, the judgment of the working condition type is carried out through the current power grid voltage value or the current rotor rotating speed of the wind generation set, because the current working condition can be directly reflected by the power grid voltage value and the rotor rotating speed of the wind generation set, and meanwhile, the acquisition of the power grid voltage value and the rotor rotating speed of the wind generation set is simple and convenient, and the current working condition can be more conveniently and rapidly known.
And step S604, judging whether the current working condition of the wind turbine generator is a normal working condition.
When the current grid voltage value of the wind turbine generator is obtained in step S602, it is determined in this step whether the obtained current grid voltage value of the wind turbine generator is within a preset voltage range, where when the obtained current grid voltage value of the wind turbine generator is determined to be within the preset voltage range, the current working condition of the wind turbine generator is determined to be a normal working condition, and when the obtained current grid voltage value of the wind turbine generator is determined to be outside the preset voltage range, the current working condition of the wind turbine generator is determined to be an abnormal working condition.
The voltage value of the current wind turbine generator is measured by a frequency converter, firstly, an instruction for acquiring the voltage value of the current wind turbine generator of the wind turbine generator is sent to the frequency converter of the wind turbine generator, wherein the frequency converter is used for detecting the current voltage value of the wind turbine generator, the frequency converter judges the voltage value of the current wind turbine generator through detection logic of the frequency converter, whether the acquired current power grid voltage value is within a preset voltage range is further judged, and a judgment result is sent to a controller, whether the current working condition is a normal working condition or not can be judged by the controller by receiving the voltage value of the wind turbine generator from the frequency converter, and in order to improve the measurement timeliness, the frequency converter measures the voltage value of the current wind turbine generator in real time.
Here, the detection logic of the frequency converter is: and the frequency converter collects the voltage of the power grid in real time and judges the range of the voltage U of the power grid in real time. And if the power grid voltage U is between the preset Umin and the preset Umax, the power grid voltage is normal, namely the wind turbine generator operates under a normal working condition. And if the power grid voltage U is higher than Umax, namely higher than the voltage range of normal operation of the wind turbine generator, the frequency converter enters a high-voltage ride-through state. And if the power grid voltage U is less than Umin, namely is lower than the voltage range of the normal operation of the wind turbine generator, the frequency converter enters a low-voltage ride through state. And if the voltage of the power grid still exceeds a large range, the frequency converter enters a power-down state of the power grid.
The controller receives the judgment result of the frequency converter in real time, and the running state of the fan also enters a corresponding normal running state, a high voltage ride through state, a low voltage ride through state or a power failure state of a power grid. The high voltage ride through state, the low voltage ride through state and the power failure state of the power grid are all abnormal working conditions.
When the current rotor speed of the wind turbine generator is obtained in step S602, it is determined in this step whether the obtained current rotor speed of the wind turbine generator is within a preset rotor speed range, where when it is determined that the obtained current rotor speed of the wind turbine generator is within the preset rotor speed range, the current working condition is determined to be a normal working condition, and when it is determined that the obtained current rotor speed of the wind turbine generator is outside the preset rotor speed range, the current working condition is determined to be an abnormal working condition.
The current rotor rotating speed of the wind turbine generator is measured by a sensor, firstly, a controller sends an instruction for acquiring the current rotor rotating speed of the wind turbine generator to the sensor of the wind turbine generator, the sensor measures the rotor rotating speed in real time and sends a measurement result to the controller, and the controller receives the current rotor rotating speed of the wind turbine generator from the sensor, and then the current rotor rotating speed of the wind turbine generator can be calculated in real time and judges whether the current working condition is a normal working condition or not. If the rotating speed value of the rotor of the wind turbine generator or the rotating speed change rate of the rotor of the wind turbine generator exceeds a preset threshold value, the controller judges that the wind turbine generator operates under an abnormal working condition, otherwise, the operating working condition of the wind turbine generator is judged to be a normal working condition, and in order to improve the measurement timeliness, the sensor measures the current voltage value of the wind turbine generator in real time. In order to further improve the timeliness of the measurement, in the present embodiment, the sensor and the frequency converter simultaneously perform real-time measurement.
The detection logic for detecting the rotating speed of the rotor is as follows: the controller detects the rotating speed of the generator in real time and calculates the rotating speed deviation value and the change rate of the deviation value in real time. If the rotating speed value of the generator or the rotating speed change rate of the generator exceeds a preset threshold value, the controller judges that the unit operates under an abnormal working condition, otherwise, the unit operates under a normal working condition.
And in normal working conditions, a steady-state control strategy is adopted, in abnormal working conditions, a transient-state control strategy is adopted, a control system model is corrected according to the control characteristics of the unit, and the rotating speed controller automatically switches between the transient-state control strategy and the steady-state control strategy is adopted.
When the wind turbine generator is in a normal operation state, a rotating speed controller under a steady-state control strategy is adopted to realize the safe operation of the wind turbine generator within a specified rotating speed range; when the wind turbine generator is operated under the abnormal working condition, the wind turbine generator is automatically switched to the rotating speed control under the transient control strategy, and the quick response can inhibit the problem of unit overspeed under the abnormal working condition.
And step S606, when the current working condition of the wind turbine generator is an abnormal working condition, controlling the wind turbine generator to adjust the rotating speed of the rotor so as to stabilize the rotating speed of the wind turbine generator.
In order to handle the abnormal working condition, another control link is added in the original control system to control the rotating speed of the wind turbine generator, fig. 7 is a schematic diagram of a pitch control system according to an embodiment of the invention, and as shown in fig. 7, in the system, a rotating speed control method different from the normal working condition is selected under the abnormal working condition. In this embodiment, the rotation speed of the wind turbine generator is controlled to stabilize the rotation speed of the rotor of the wind turbine generator, and in order to implement this step, a correction coefficient for adjusting the rotation speed of the rotor needs to be obtained first, and then the rotation speed of the wind turbine generator is controlled to be stabilized by adjusting the correction coefficient. There are various methods for controlling the wind turbine to adjust the rotation speed, and in this embodiment, adaptive PID control is used, that is, after the current rotor rotation speed of the wind turbine is obtained, a correction coefficient of the adaptive PID controller is calculated, and then the rotor rotation speed of the wind turbine is stabilized by using the correction parameter of the adaptive PID controller.
Fig. 8 is a schematic diagram of a rotational speed control system under an abnormal operating condition according to an embodiment of the present invention, as shown in fig. 8, compared with a control flow under a normal operating condition, before starting the adaptive PID controller, it is necessary to determine whether to enable maximum pitch rate control, and if so, the maximum pitch rate control directly replaces the adaptive PID controller and the amplitude limiting process; if not, the adaptive PID controller is started. Compared with a common PID controller, the adaptive PID controller has PID controller parameter correction, and meanwhile, an advance link can be started and controlled in advance according to advanced measurement or short-time prediction of incoming flow wind speed. By adding the two links, the rotating speed of the wind turbine generator can be controlled more accurately according to specific working conditions.
The adaptive PID controller provided by the embodiment of the invention is realized by adaptively adjusting the parameters of the PID controller. FIG. 9 is a schematic diagram of an adaptive PID controller that calculates generator speed offset values and offset values in real time via multipliers according to an embodiment of the inventionAnd then the correction coefficient of the PID controller is calculated in real time. The method comprises the steps of calculating a rotor speed deviation value according to the current rotor speed of the wind turbine generator and a preset rotor speed range, and then calculating a rotor speed deviation value change rate by using the rotor speed deviation value, so that the product of the rotor speed deviation value and the rotor speed deviation value change rate is calculated. When the product of the rotor speed deviation value and the rotor speed deviation value change rate is larger than a first threshold value, a first correction coefficient set by a user is used as the correction coefficient, for example, when the product of the generator speed deviation value and the generator speed deviation value change rate is smaller than or equal to a certain limit value V1, the correction coefficient of the PID controller is 1, and the correction coefficient of 1 indicates that the parameters of the PID controller do not need to be adjusted. When the product of the rotor speed deviation value and the rotor speed deviation value change rate is between a first threshold value and a second threshold value, a second correction coefficient set by a user is used as the correction coefficient, wherein the first threshold value is larger than the second threshold value, for example, the product of the generator speed deviation value and the generator speed deviation value change rate is larger than a certain limit value V2 (V2)>V1), which means that if the parameter of the PID controller is too small, the correction coefficient of the PID controller is N, i.e. the parameter needs to be adjusted to N times the original one, N>1. It should be noted that the data of N, V1 and V2 are obtained by different types of wind turbines through simulation calculation and field debugging of a fan model, and the data are also related to the field environment, but generally, the data of the wind turbines of uniform types are basically the same and only need to be finely adjusted. When the product of the rotor speed deviation value and the rotor speed deviation value change rate is smaller than the second threshold, a third correction coefficient set by a user is used as a correction coefficient, for example, when the product of the generator speed deviation value and the generator speed deviation value change rate is between a limit value V1 and a limit value V2, the parameters of the PID controller can be calculated by using a linear interpolation algorithm or an exponential difference algorithm, for example, in the linear interpolation algorithm, y = kx + b is taken as an example, the product of the generator speed deviation value and the generator speed deviation value change rate is defined as x, and the correction coefficient is defined as y, so that the values of k and b can be obtained under the condition of obtaining specific coordinate values corresponding to two extreme conditions, and the track of each point between the two conditions can be obtainedThe corresponding correction factor y can be determined in a predictive manner, i.e. by means of the value x of any product. The principle of the exponential difference is the same, e.g. at y = xnIn + k, the correction coefficient in any one of the two extreme cases can be determined according to the value of the extreme case, and the parameters of the PID controller are adjusted through the correction coefficient, so that the self-adaptive PID control is realized. The adjustment above a certain limit value V2 and the adjustment between limit value V1 and limit value V2 have different adjustment speeds, so that the aim of the adjustment is to adjust the wind turbine more quickly in conjunction with the current operating conditions.
If the current working condition is an abnormal working condition, the controller can be switched to a self-adaptive PID controller mode, the self-adaptive PID controller mode can be added with an advanced control link or start the maximum speed variable pitch control, and the advanced control link can adopt an advanced control algorithm according to the running condition of the fan. If in the gust condition, the control is carried out in advance according to the advanced measurement or short-time prediction of the incoming flow wind speed, and the feathering action is executed in advance in response. The maximum speed variable pitch control is that when the rotating speed rises faster or higher, the variable pitch system of the fan executes feathering action at the fastest variable pitch speed, and the absorption of wind energy is reduced rapidly until the rotating speed is controlled below a certain limit value. The self-adaptive PID controller calculates the deviation value of the rotating speed of the generator and the change rate of the deviation value in real time, and calculates the PID adjusting speed in real time. The deviation value of the rotating speed of the generator is the deviation between the actual rotating speed of the generator and the given rotating speed. The adjusting strength of the rotating speed of the generator is related to the rotating speed deviation value and the change rate of the deviation value, if the adjusting speed is slow, the gain is increased, namely the rotating speed deviation value of the rotor of the wind generation set is larger, or the change rate of the rotating speed deviation value of the rotor of the wind generation set is larger, so that the adjusting strength of the PID controller is larger, the variable pitch control speed of the wind generation set is increased, it needs to be noted that the adjusting strength is a control quantity representing the given size of the controller and is mainly determined by the gain of the controller, the adjusting speed is an actual response quantity of the fan and is related to wind load, control given and the like, wherein the wind load is a load generated by wind power to the fan, and the load is sometimes pushing and. The control command is a calculated response to the actual situation. And if the rotating speed of the rotor of the wind turbine generator is still higher than a certain higher limit value, starting maximum speed pitch control, so that the wind turbine generator feathers at the fastest pitch control speed, and the rotating speed of the wind turbine generator is quickly stabilized.
And judging and selecting a proper control link according to the working condition. Under the condition of large voltage fluctuation of the power grid, a rotating speed controller with a transient effect, namely the rotating speed controller used in the embodiment of the invention, is selected, and under the condition of stable voltage of the power grid, a rotating speed controller with a steady effect, namely the rotating speed controller used in the prior art, is selected to ensure the quality of electric energy input into the power grid by the fan.
And entering an abnormal working condition state, and automatically adjusting the rotating speed by adopting a self-adaptive controller according to the running state of the wind turbine generator and the external working condition environment to ensure the safe running of the wind turbine generator. For example, when the wind turbine generator encounters low voltage, the control system determines a set torque value according to the type of grid voltage drop and the drop amplitude, and in order to protect electrical components such as a frequency converter, the power of the wind turbine generator drops relatively quickly during low voltage ride through, even drops to zero. The sudden reduction of the electromagnetic torque of the generator leads to the sudden increase of the rotating speed of the unit, the control system in a normal state cannot control the rotating speed of the unit within a safety range, the unit goes wrong at overspeed, low voltage ride through fails, and even the safety of the unit can be threatened. Aiming at the condition, the invention switches to the rotating speed control system under the abnormal working condition in time, and adopts a more rapid and reasonable variable pitch control system according to the current power grid and rotating speed condition to stabilize the rotating speed. When the voltage of the power grid is recovered, the variable pitch control and the torque control are coordinated and matched, so that the stability of the rotating speed of the unit and the rapidity and the stability of the power recovery are ensured.
Preferably, according to the specific situation of the abnormal working condition, which rotation speed protection control method is adopted can be judged.
The method for controlling the rotating speed of the wind turbine generator adopts the self-adaptive control system, namely, the control system automatically adjusts according to the information such as the rotating speed of the generator, the voltage of a power grid, the wind speed and the like, and stabilizes the rotating speed of the wind turbine generator. The abnormal working conditions are mainly divided into the following three types:
1. abnormal working conditions related to the voltage fluctuation of the power grid, namely low voltage ride through and high voltage ride through working conditions. The frequency converter detects the voltage of the power grid in real time, transmits the detected voltage of the power grid to the control system and judges whether the power grid enters an abnormal working condition or not. When the vehicle enters an abnormal working condition, the control system is switched to a rotating speed control protection system under the abnormal working condition. And the rotating speed control protection system under the abnormal working condition calculates the rotating speed deviation value of the generator and the change rate of the deviation value in real time so as to calculate the PID regulation speed in real time. After the voltage of the power grid is recovered, the wind turbine generator is rapidly regulated through torque control, namely the regulation speed of the torque control is changed, so that the torque of the generator is rapidly increased to a normal level from a very low level or zero, the active power is rapidly increased, and the increase of the rotating speed of the wind turbine generator is restrained.
2. The power failure working condition of the power grid is as follows: and the frequency converter and the control system detect the running state of the fan in real time, and if the fan runs under the power-down working condition of a power grid, the unit is judged to enter an abnormal working condition. At the moment, the wind turbine generator is immediately disconnected, the rotating speed of a rotor of the wind turbine generator can rise fast, the control system is switched to a rotating speed control protection system under an abnormal working condition, and specifically, a self-adaptive PID controller and maximum speed variable pitch control can be adopted. And the self-adaptive PID controller calculates the adjusting speed of the PID in real time, and if the rotating speed of the wind turbine generator is still higher than a certain higher limit value at the moment, the maximum speed variable pitch control is started, so that the generator feathers at the fastest variable pitch speed, and the rotating speed of the generator is quickly stabilized.
3. Gust conditions: the control system detects the wind speed and the rotating speed in real time and judges whether the unit enters an abnormal working condition or not. At the moment, the wind turbine generator is still connected to the grid for generating electricity and the power is generally high, the rotating speed of a rotor of the wind turbine generator is increased along with the increase of the wind speed, and the control system is switched to a rotating speed control protection system under an abnormal working condition. At the moment, the advanced control of the gust response is more important, and the controller can adopt a self-adaptive PID controller so as to calculate the PID regulation speed in real time. Meanwhile, an advance control link can be added, advance control is carried out according to advance measurement or short-time prediction of the incoming flow wind speed, and the feathering action is executed in advance in response. And if the rotating speed of the wind turbine generator is still higher than a certain higher limit value at the moment, starting maximum pitch control, so that the generator feathers at the fastest pitch rate, and the rotating speed of the generator is quickly stabilized.
And finally, after the current working condition is determined to be converted from the abnormal working condition to the normal working condition, restoring the power to the normal power.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A rotating speed control method of a wind turbine generator is characterized by comprising the following steps:
acquiring the current working condition of the wind turbine generator;
judging whether the current working condition of the wind turbine generator is a normal working condition or not; and
when the current working condition of the wind turbine generator is an abnormal working condition, controlling the wind turbine generator to adjust the rotating speed of a rotor so as to stabilize the rotating speed of the wind turbine generator,
wherein,
the method for acquiring the current working condition of the wind turbine generator comprises the following steps: acquiring the current grid voltage value of the wind turbine generator,
judging whether the current working condition of the wind turbine generator meets the preset condition comprises the following steps: judging whether the acquired current grid voltage value of the wind turbine generator is within a preset voltage range or not,
wherein when the current working condition of the wind turbine generator is obtained and the current grid voltage value of the wind turbine generator is obtained, when the obtained current grid voltage value of the wind turbine generator is judged to be within a preset voltage range, the current working condition of the wind turbine generator is determined to be a normal working condition, and when the obtained current grid voltage value of the wind turbine generator is judged to be outside the preset voltage range, the current working condition of the wind turbine generator is determined to be an abnormal working condition,
wherein, obtaining the current voltage value of the wind turbine generator comprises:
sending an instruction for acquiring the current voltage value of the wind turbine generator to a frequency converter of the wind turbine generator, wherein the frequency converter is used for detecting the current voltage value of the wind turbine generator; and
and receiving the voltage value of the wind turbine generator from the frequency converter.
2. The method for controlling the rotational speed of a wind turbine according to claim 1,
the method for acquiring the current working condition of the wind turbine generator comprises the following steps: acquiring the current rotor rotating speed of the wind turbine generator,
judging whether the current working condition of the wind turbine generator meets the preset condition comprises the following steps: judging whether the acquired current rotor rotating speed of the wind turbine generator is within a preset rotor rotating speed range or not,
when the current working condition of the wind turbine generator is obtained, the current working condition is determined to be the normal working condition when the current rotor rotating speed of the wind turbine generator obtained by judging is within a preset rotor rotating speed range, and when the current rotor rotating speed of the wind turbine generator obtained by judging is outside the preset rotor rotating speed range, the current working condition is determined to be the abnormal working condition.
3. The method for controlling the rotating speed of the wind turbine generator according to claim 2, wherein the step of obtaining the rotor rotating speed of the current wind turbine generator of the wind turbine generator comprises:
sending an instruction for acquiring the current rotor rotating speed of the wind turbine generator to a sensor of the wind turbine generator, wherein the sensor is used for detecting the current rotor rotating speed of the wind turbine generator; and
and receiving the current rotor speed of the wind turbine generator from the sensor.
4. The method for controlling the rotating speed of the wind turbine generator according to any one of claims 2 to 3, wherein controlling the wind turbine generator to adjust the rotating speed so as to stabilize the rotating speed of the rotor of the wind turbine generator comprises:
acquiring a correction coefficient for adjusting the rotating speed of the rotor; and
and regulating the control of the rotating speed of the rotor through the correction coefficient so as to stabilize the rotating speed of the wind turbine generator.
5. The method for controlling the rotation speed of the wind turbine generator according to claim 4, wherein obtaining the correction coefficient for adjusting the rotation speed of the rotor comprises:
calculating a rotor rotating speed deviation value according to the rotor rotating speed of the current wind turbine generator and the preset rotor rotating speed range;
calculating the change rate of the rotor speed deviation value by using the rotor speed deviation value;
calculating the product of the rotor speed deviation value and the rotor speed deviation value change rate;
when the product of the rotor speed deviation value and the rotor speed deviation value change rate is larger than a first threshold value, taking a first correction coefficient set by a user as the correction coefficient;
when the product of the rotor speed deviation value and the rotor speed deviation value change rate is between a first threshold value and a second threshold value, taking a second correction coefficient set by a user as the correction coefficient, wherein the first threshold value is larger than the second threshold value; and
and when the product of the rotor speed deviation value and the rotor speed deviation value change rate is smaller than a second threshold value, taking a third correction coefficient set by a user as the correction coefficient.
6. The method for controlling the rotation speed of the wind turbine generator according to claim 2, wherein controlling the wind turbine generator to stabilize the rotation speed of the wind turbine generator comprises:
determining that the current working condition is converted from an abnormal working condition to a normal working condition; and
the power is restored to normal power.
7. A rotational speed control device of a wind turbine generator system is characterized by comprising:
the acquisition unit is used for acquiring the current working condition of the wind turbine;
the judging unit is used for judging whether the current working condition of the wind turbine generator is a normal working condition or not; and
a control unit for controlling the wind turbine generator to adjust the rotor speed to stabilize the speed of the wind turbine generator when the current working condition of the wind turbine generator is an abnormal working condition,
wherein,
the acquisition unit includes: a first obtaining subunit, configured to obtain a current grid voltage value of the wind turbine generator,
the judging unit includes: a first judging subunit, configured to judge whether the obtained current grid voltage value of the wind turbine generator is within a preset voltage range,
wherein when the current working condition of the wind turbine generator is obtained and the current grid voltage value of the wind turbine generator is obtained, when the obtained current grid voltage value of the wind turbine generator is judged to be within a preset voltage range, the current working condition of the wind turbine generator is determined to be a normal working condition, and when the obtained current grid voltage value of the wind turbine generator is judged to be outside the preset voltage range, the current working condition of the wind turbine generator is determined to be an abnormal working condition,
wherein the first obtaining subunit includes:
the first sending module is used for sending an instruction for acquiring the current voltage value of the wind turbine generator to a frequency converter of the wind turbine generator, wherein the frequency converter is used for detecting the current voltage value of the wind turbine generator; and
and the first receiving module is used for receiving the voltage value of the wind turbine generator from the frequency converter.
8. The rotational speed control apparatus of a wind turbine according to claim 7,
the acquisition unit includes: a second obtaining subunit, configured to obtain a current rotor speed of the wind turbine generator,
the judging unit includes: a second judging subunit, configured to judge whether the obtained current rotor speed of the wind turbine generator is within a preset rotor speed range,
when the current working condition of the wind turbine generator is obtained, the current working condition is determined to be the normal working condition when the current rotor rotating speed of the wind turbine generator obtained by judging is within a preset rotor rotating speed range, and when the current rotor rotating speed of the wind turbine generator obtained by judging is outside the preset rotor rotating speed range, the current working condition is determined to be the abnormal working condition.
9. The rotational speed control apparatus of a wind turbine according to claim 8, wherein the second obtaining subunit includes:
the second sending module is used for sending an instruction for acquiring the current rotor rotating speed of the wind turbine generator to a sensor of the wind turbine generator, wherein the sensor is used for detecting the current rotor rotating speed of the wind turbine generator; and
and the second receiving module is used for receiving the current rotor speed of the wind turbine generator from the sensor.
10. The rotational speed control apparatus of a wind turbine according to claim 8, wherein the control unit includes:
the third acquisition subunit is used for acquiring a correction coefficient for adjusting the rotating speed of the rotor; and
and the adjusting subunit is used for adjusting the control on the rotating speed of the rotor through the correction coefficient so as to stabilize the rotating speed of the wind turbine generator.
11. The apparatus for controlling the rotational speed of a wind turbine according to claim 10, wherein the third obtaining subunit comprises:
the first calculation module is used for calculating a rotor rotating speed deviation value according to the rotor rotating speed of the current wind turbine generator and the preset rotor rotating speed range;
the second calculation module is used for calculating the change rate of the rotor rotation speed deviation value by using the rotor rotation speed deviation value;
the third calculation module is used for calculating the product of the rotor speed deviation value and the rotor speed deviation value change rate;
the first obtaining module is used for taking a first correction coefficient set by a user as the correction coefficient when the product of the rotor speed deviation value and the rotor speed deviation value change rate is larger than a first threshold value;
the second obtaining module is used for taking a second correction coefficient set by a user as the correction coefficient when the product of the rotor speed deviation value and the rotor speed deviation value change rate is between a first threshold and a second threshold, wherein the first threshold is larger than the second threshold; and
and the third obtaining module is used for taking a third correction coefficient set by a user as the correction coefficient when the product of the rotor speed deviation value and the rotor speed deviation value change rate is smaller than a second threshold value.
12. The rotational speed control apparatus of a wind turbine according to claim 8, wherein the control unit includes:
the determining subunit is used for determining that the current working condition is converted from the abnormal working condition to the normal working condition; and
and the recovery subunit is used for recovering the power to the normal power.
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| CN103532453B (en) * | 2013-09-18 | 2016-06-22 | 武汉船用机械有限责任公司 | A kind of marine generator group control method and device |
| CN103595316B (en) * | 2013-11-25 | 2016-02-24 | 北京金风科创风电设备有限公司 | Generator electromagnetic torque compensation control method for wind turbine generator |
| CN104393807B (en) * | 2014-11-07 | 2017-09-22 | 美的集团股份有限公司 | The control method and its control system of motor |
| CN105157986B (en) * | 2015-06-17 | 2017-09-22 | 广东电网有限责任公司电力科学研究院 | A kind of monitoring reliability method for gas turbine hot-end component |
| CN110138304B (en) * | 2019-04-24 | 2021-03-09 | 浙江吉利控股集团有限公司 | Anti-shake control method and device for electric drive system and vehicle |
| CN110594098A (en) * | 2019-09-12 | 2019-12-20 | 华电电力科学研究院有限公司 | Over-speed control method for impeller of wind turbine generator |
| CN112947044B (en) * | 2019-12-11 | 2022-07-19 | 新疆金风科技股份有限公司 | PID control method and device and computer equipment |
| CN113623135B (en) * | 2021-09-15 | 2022-09-27 | 中国船舶重工集团海装风电股份有限公司 | Overspeed-preventing shutdown control method for wind turbine generator |
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