CN103244350B - Method for tracking and controlling optimum tip speed ratio of wind power generation unit - Google Patents

Method for tracking and controlling optimum tip speed ratio of wind power generation unit Download PDF

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Publication number
CN103244350B
CN103244350B CN201310158045.7A CN201310158045A CN103244350B CN 103244350 B CN103244350 B CN 103244350B CN 201310158045 A CN201310158045 A CN 201310158045A CN 103244350 B CN103244350 B CN 103244350B
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speed
speed ratio
optimum tip
optimum
tip
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CN103244350A (en
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邬昌明
邵宜祥
王长宝
王文卓
胡丽萍
曾雨竹
蔡国洋
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Nari Technology Co Ltd
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Priority to PCT/CN2013/083656 priority patent/WO2014176862A1/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/028—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power
    • F03D7/0284—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power in relation to the state of the electric grid
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/32—Wind speeds
    • 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

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Wind Motors (AREA)

Abstract

The invention belongs to the technical field of source network coordination and relates to a method for enabling a fan operating at a low speed to be adjusted to operate at an optimum tip speed ratio and simultaneously and automatically correcting the optimum tip speed ratio regularly. The method includes the following steps: calculating an accurate power value of a power generator according to feedback torque and rotating speed; calculating wind speed according to power factors corresponding to the power and the optimum tip speed ratio; when the rotating speed can be adjusted, adjusting the rotating speed to enable the fan to operate in an optimum tip speed ratio state; when the rotating speed cannot be adjusted, adjusting a pitch angle to enable the fan to operate in an optimum tip speed ratio state; and adopting a statistical average hill-climbing method to correct the optimum tip speed ratio corresponding to a minimum pitch angle. By adopting the method, problems of existing methods are solved.

Description

A kind of wind power generating set optimum tip-speed ratio tracking and controlling method
Technical field
The present invention relates to wind power generation field, especially a kind of wind power generating set optimum tip-speed ratio tracking and controlling method.
Background technique
The maximal power tracing of wind energy conversion system refers to below rated wind speed, by regulating wind speed round, making it change along with the change of wind speed, thus making wind energy conversion system remain on optimum tip-speed ratio state, power coefficient is remained on maximum value, obtains the method for maximum power output.
Maximal wind-power tracking (MPPT) is the key problem of wind-power electricity generation, but the characteristic of the tracking of wind energy is determined by wind energy conversion system.Therefore no matter be that wind energy conversion system, the thought of its tracking wind energy communicates.Maximal wind-power tracking conventional at present controls to mainly contain optimum tip speed ratio method, power signal feedback transmitter, optimum torque method, climbing method.
Optimum tip-speed ratio calculates corresponding optimized rotating speed by the recording anemometer measured, and makes blower fan maintain optimized rotating speed run by regulating torque.The method subject matter is can not measure actual wind speed size accurately.
Optimum torque method is by given rotating speed and torque, power curve, and carried out the method for given power and torque by the rotating speed measured, the subject matter of the method is that optimized rotating speed and torque, power curve are difficult to obtain.Another problem is that the reasons such as deformable blade can cause fan characteristic to change along with the working time of blower fan is elongated, thus makes given rotating speed and torque, power curve originally be no longer optimal curves.
Climbing method be command value that the rotating speed of blower fan is controlled with certain rotating speed disturbed value Δ ω, then observe the changed power of windmill.If power increases, then the perturbation direction of windmill rotating speed is constant, if power reduction, then by reverse for the disturbance of windmill rotating speed.Application number be 201110173155.1 Chinese patent application this climbing method method is improved, this proprietary algorithms not only inherits the advantage near variable step climbing method fast search to MPP, also have maximum power point (MPP) detect and stop mechanism.When blower fan tracks near MPP, this mechanism not only effectively can reduce the wearing and tearing of speed oscillation to blower fan system mechanical part, more overcome algorithm stop mechanism coming into force after wind speed when again changing to the interference that the direction of search judges, thus further increase Wind energy extraction efficiency.The method problem is that it is applicable to the very little miniature wind power generation system of inertia, for the large scale wind power machine system that inertia is larger, because wind energy conversion system has larger rotary inertia, the time constant of system is longer, and the method cannot effectively be controlled large-scale Wind turbine.
Application number be 200610097565.1 Chinese patent application have employed original state, according to original peak output curve, power signal feedback control carried out to blower fan, climbing method optimal-search control is adopted when wind speed change is less, maximum output under current wind speed and corresponding generator speed is obtained by rotating speed disturbance, according to original peak output curve and the data point that newly adds, obtain revised peak output curve.Adopt revised up-to-date power curve when wind speed changes greatly, power signal feedback control is adopted to system.The method requires higher for the wind velocity condition of wind field, especially unit capacity is larger, wind wheel inertia is larger, and the delay time using climbing method control blower fan to reach needed for balance is longer, and it is about 5 times that look-up table reaches stable needed time that usual climbing method control system reaches stable needed time.For the category-A wind field that some wind speed turbulivitys are higher, the difficulty that use the method carries out power curve correction is larger.
Therefore, need a kind of new technological scheme to solve the problem.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of wind power generating set optimum tip-speed ratio tracking and controlling method.
For achieving the above object, wind power generating set optimum tip-speed ratio tracking and controlling method of the present invention can adopt following technological scheme:
A kind of wind power generating set optimum tip-speed ratio tracking and controlling method, comprises the steps:
(1), by feedback torque and tachometer calculate definite generator power value, calculate wind speed by power and power factor corresponding to optimum tip-speed ratio;
(2), rotating speed when can regulate adjusting rotary speed make fan operation in optimum tip-speed ratio state, regulate propeller pitch angle when rotating speed can not regulate, make fan operation in optimum tip-speed ratio state;
(3), adopt statistical average climbing method, the optimum tip-speed ratio value corresponding to minimum change propeller angle corrects, and corrects minimum blade angle beta by statistical average climbing method 0corresponding optimum tip-speed ratio value method be: in fan operation process, the value corresponding to the calculation of wind speed provided in sample range and respective leaves tip-speed ratio is added up, sampling statistics reach the scale of expectation after carry out average computation; First time has added up rear right carry out disturbance, repeat statistic processes and calculate statistical value rear and above to compare, choose more excellent value.Count optimum re-start this statistics checking procedure after running a period of time, again obtain optimum value.
Compared with prior art, the problem that the present invention solves has: 1, how to obtain accurate wind speed to regulate blower fan, make fan operation under optimum tip-speed ratio state; 2, the wind speed range of fan operation under optimum tip-speed ratio state how is increased; 3, uncertain in optimum tip-speed ratio value or along with blade long-play distortion after how to determine the optimum tip-speed ratio value that blower fan 0 ° of angle is corresponding.
Accompanying drawing explanation
Fig. 1 is the figure of the set of curves that in the present invention, power factor and tip speed ratio relation change with propeller pitch angle.
Fig. 2 is apoplexy machine perfect condition operation curve figure of the present invention.
Fig. 3 is optimum tip-speed ratio Tracing Control strategic process figure of the present invention.
Fig. 4 is optimum tip-speed ratio statistical average climbing method correcting process figure under minimum angles in the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, illustrate the present invention further, these embodiments should be understood only be not used in for illustration of the present invention and limit the scope of the invention, after having read the present invention, the amendment of those skilled in the art to the various equivalent form of value of the present invention has all fallen within the application's claims limited range.
(1) calculate definite generator power value by feedback torque and tachometer, calculate wind speed by power and power factor corresponding to optimum tip-speed ratio.
(2) when rotating speed can regulate, adjusting rotary speed makes fan operation in optimum tip-speed ratio state, regulates propeller pitch angle when rotating speed can not regulate, and makes fan operation in optimum tip-speed ratio state.
(3) adopt statistical average climbing method, the optimum tip-speed ratio value corresponding to minimum change propeller angle corrects.
In the present invention, disclosing a kind of by calculating the method obtaining current wind speed, using this wind speed can carry out optimum tip-speed ratio Tracing Control to blower fan more accurately.The power P that our known wind wheel absorbs from aerodynamics eas follows with the relation of wind speed v:
P e = 1 2 C p ρA v 3 - - - ( 1 )
Wherein A is rotor swept face area, and ρ is air density, C pfor power factor.Wherein P ecan be obtained by power measurement module, in order to ensure the accurate of calculating, the present invention proposes the current feedback torque T using frequency variator ewith current generator rotational speed omega rcalculate.
P e=T e*ω r(2)
From formula (1), (2) ask for air speed value also needs to know the C current state psize, and in fact C psize be unknown, so supposition blower fan be currently operating at optimum tip-speed ratio state, then can determine C pfor the power factor maximum value C under current change propeller angle β p_max_ β.Can obtain calculation of wind speed after simultaneous formula (1), (2) is
v count = 2 * T e * ω r / ( C p _ max _ β * ρ * A ) 3 - - - ( 3 )
In the present invention, disclose how to increase the wind speed range of fan operation under optimum tip-speed ratio state.As can be seen from Figure 1, along with becoming the increase of propeller angle, the also increase gradually of optimum tip speed ratio corresponding to peak output factor.Tip speed ratio formula is:
λ = ωR v - - - ( 4 )
Wherein ω is fan blade angular velocity, and R is the fan blade radius of gyration, and v is wind speed.
For different blower fan, the speed range that is incorporated into the power networks substantially constant, common controlling method is at maximum power tracing stage all constant oar.Due to the restriction of speed range, maximum power tracing wind speed range also just determines.Propose in the present invention under little wind, during the fan operation perseverance minimum grid-connected rotating speed stage, carry out change oar according to calculation of wind speed and control, thus change power factor and optimum tip-speed ratio relation curve.From formula (4), along with the increase of optimum tip-speed ratio value, when minimum grid-connected rotating speed is constant, the wind speed realizing optimum tip-speed ratio tracking is less, thus reaches the object increasing the wind speed range of fan operation under optimum tip-speed ratio state.
In the present invention, disclose optimum tip-speed ratio Tracing Control strategy and be divided into two parts.Divide according to the desirable operation curve of the blower fan in Fig. 2 and be described, wherein the AB stage is the permanent rotating speed stage, and the BC stage is the optimum tip-speed ratio track phase under constant propeller pitch angle.In the AB stage, by regulating torque to maintain invariablenes turning speed, by regulating propeller pitch angle to ensure that fan operation is in optimum tip-speed ratio state, and the BC stage, propeller pitch angle is constant in minimum blade angle beta 0position, changes generator speed by regulating torque instruction and ensures that fan operation is in optimum tip-speed ratio state.
In the present invention, disclose one and correct minimum blade angle beta by statistical average climbing method 0corresponding optimum tip-speed ratio value method, in fan operation process, the value corresponding to the calculation of wind speed provided in sample range and respective leaves tip-speed ratio is added up, sampling statistics reach the scale of expectation after carry out average computation.First time has added up rear right carry out disturbance, repeat statistic processes and calculate statistical value rear and above to compare, choose more excellent value.Count optimum re-start this statistics checking procedure after running a period of time, again obtain optimum value.
Provide embodiment by reference to the accompanying drawings more below.
Wind energy conversion system is by mechanical energy (P m) be converted to electric energy (P m) coefficient and C pthe function of tip speed ratio λ and propeller pitch angle β equally.Namely can say that power factor represents for C equally p=f (λ, β), the relation between three can be found out by the curve in Fig. 1, all has a C for each propeller pitch angle β determined pmaximum point C p_max_ βcorresponding with it exist an optimum tip-speed ratio λ opt_ β.Therefore, the object of following the trail of by regulating change propeller angle or adjusting vane rotating speed can realize optimum tip-speed ratio under a certain wind speed.
The present invention according to shown in Fig. 2 by maximum power tracing control be divided into two parts, a part realizes fan operation under optimum tip-speed ratio condition, under another part makes it operate in optimum tip-speed ratio condition by adjusting vane rotating speed by regulating propeller pitch angle.Below in conjunction with Fig. 3, the process completing maximum power tracing by controlling fan operation under optimum tip-speed ratio condition of the present invention is described.
1), to the maximum power tracing of optimum tip-speed ratio control to carry out initialization, initialization content comprises feedback torque, generator speed, power factor, the torque of output, propeller pitch angle command value.
2) optimum tip speed ratio λ under, choosing current angular according to form optcorresponding C p_maxvalue substitutes into formula (3) and calculates current calculation of wind speed v count.
3), v is used countwith actual speed w rthe tip speed ratio λ of current time is calculated by formula (4) r.
4) the tip speed ratio λ of current time, is compared rbe 0 ° of optimum tip-speed ratio λ with corresponding propeller pitch angle 0.If λ r> λ 0enter the 8th of adjustment the) step.If λ r< λ 0enter the 5th of adjustment the) step.
5), with the speed of 1 °/s by propeller pitch angle to 0 ° of adjustment.According to formula (1), pass through λ optand v countcalculate optimal objective rotational speed omega ref.
6) if actual speed w rbe greater than ω ref, regulated by PI and increase torque instruction value T ref.If w rbe less than ω ref, regulated by PI and reduce torque instruction value T ref.
7) repeat step 2 after rotation speed change), 3), 4).Until the ratio between blower fan calculation of wind speed and rotating speed reaches the state of equilibrium that proportionate relationship is.
8) torque instruction value T is regulated by PI refmaintain invariablenes turning speed at minimum grid-connected rotating speed.
9) table look-up and ask tip speed ratio λ rbe the pitch angle value corresponding to optimum tip-speed ratio, use this pitch angle value of tabling look-up as target pitch angle value β refcarry out change oar to regulate.
10) propeller pitch angle change after repeat step 2), 3), 4).Until blower fan reaches calculation of wind speed, rotating speed, propeller pitch angle three reach state of equilibrium.
For powerful unit, because rotary inertia is excessive, real-time the following the trail of optimum tip-speed ratio of climbing method is used to be not easy to reach state of equilibrium thus to obtain an optimum value determined, ceaselessly carry out dynamic disturbances causes speed oscillation can deepen the wearing and tearing of mechanical part simultaneously, affects the service life of blower fan.The present invention proposes a kind of statistics climbing method, namely by the value averaged in statistics certain limit, carry out statistical comparison again after disturbance is carried out to optimum tip-speed ratio value, thus obtain the suitable optimum tip-speed ratio value for air-blower control.Below in conjunction with Fig. 4, the method is described:
1), to the control of optimum tip-speed ratio value under correction constant angle carry out initialization, initialization comprises optimum tip-speed ratio initial value, the scale of sampling, the calculation of wind speed scope=v of sampling mid± 0.1, the tip speed ratio scope of sampled point, tip speed ratio disturbance etc.
2), to all calculation of wind speed be positioned at calculation of wind speed scope, the value that simultaneously corresponding tip speed ratio is positioned at sampling tip speed ratio scope carries out record, and the content of record comprises: calculation of wind speed, current power.
3), statistics scale stores this wind speed mean value and power average value after reaching set statistics scale, calculates corresponding wind energy absorption efficiency
4), to the disturbance of an optimum tip-speed ratio step-length, repeat step 2), 3).The relatively wind energy absorption efficiency K of twice statistics 1k 2.
5) if K 1> K 2then carry out disturbance in the opposite direction, and repeat step 2), 3), 4).If K 1< K 2then carry out disturbance to identical direction, and repeat step 2), 3), 4).
6), when forward disturbance with oppositely the wind energy absorption efficiency of disturbance all compared with current is little, then selected current tip speed ratio controls as optimum tip speed ratio.
7), determine after a suboptimum tip speed ratio runs 1 year and repeat step 2 again), 3), 4), 5), 6), adjust new optimum tip-speed ratio value.
The present invention is illustrated according to the preferred embodiment, should be appreciated that but above-described embodiment does not limit the present invention in any form, the technological scheme that the form that all employings are equal to replacement or equivalent transformation obtains, and all drops within protection scope of the present invention.

Claims (3)

1. a wind power generating set optimum tip-speed ratio tracking and controlling method, is characterized in that, comprises the steps:
(1), by feedback torque and tachometer calculate definite generator power value, calculate wind speed by power and power factor corresponding to optimum tip-speed ratio;
(2), rotating speed when can regulate adjusting rotary speed make fan operation in optimum tip-speed ratio state, regulate propeller pitch angle when rotating speed can not regulate, make fan operation in optimum tip-speed ratio state;
(3), adopt statistical average climbing method, the optimum tip-speed ratio value corresponding to minimum change propeller angle corrects, and corrects minimum blade angle beta by statistical average climbing method 0corresponding optimum tip-speed ratio value method be: in fan operation process, the value corresponding to the calculation of wind speed provided in sample range and respective leaves tip-speed ratio is added up, sampling statistics reach the scale of expectation after carry out average computation; First time has added up rear right carry out disturbance, repeat statistic processes and calculate statistical value rear and above to compare, choose more excellent value, counts optimum re-start this statistics checking procedure after running a period of time, again obtain optimum value;
In described step (1), the computational methods of wind speed are:
Power P ewith the pass of wind speed v be: wherein A is rotor swept face area, and ρ is air density, C pfor power factor; Use the current feedback torque T of frequency variator ewith current generator rotational speed omega rcarry out calculating P e: P e=T e* ω r; If C pfor the power factor maximum value C under current change propeller angle β p_max_ β; Obtaining calculation of wind speed is:
v count = 2 * T e * &omega; r / ( C p _ max _ &beta; * &rho; * A ) 3 .
2. wind power generating set optimum tip-speed ratio tracking and controlling method as claimed in claim 1, is characterized in that: regulate propeller pitch angle to make fan operation in the method for optimum tip-speed ratio state be when step (2) medium speed can regulate: tip speed ratio λ formula is: wherein ω is fan blade angular velocity, and R is the fan blade radius of gyration, and v is wind speed; Along with the increase of optimum tip-speed ratio value, when minimum grid-connected rotating speed is constant, the wind speed realizing optimum tip-speed ratio tracking is less, thus reaches the object increasing the wind speed range of fan operation under optimum tip-speed ratio state.
3. wind power generating set optimum tip-speed ratio tracking and controlling method as claimed in claim 1, it is characterized in that: regulate propeller pitch angle to make fan operation in the method for optimum tip-speed ratio state be when step (2) medium speed can not regulate: when blower fan is positioned at the permanent rotating speed stage, by regulating torque to maintain invariablenes turning speed, ensure that fan operation is in optimum tip-speed ratio state by regulating propeller pitch angle; When blower fan is positioned at the constant propeller pitch angle stage, propeller pitch angle is constant in minimum blade angle beta 0position, changes generator speed by regulating torque instruction and ensures that fan operation is in optimum tip-speed ratio state.
CN201310158045.7A 2013-05-02 2013-05-02 Method for tracking and controlling optimum tip speed ratio of wind power generation unit Active CN103244350B (en)

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PCT/CN2013/083656 WO2014176862A1 (en) 2013-05-02 2013-09-17 Method for tracking and controlling optimal blade tip speed ratio of wind power generation unit

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