CN103362736A - Variable-speed variable-pitch wind generating set maximum power tracking control method based on internal model control - Google Patents

Variable-speed variable-pitch wind generating set maximum power tracking control method based on internal model control Download PDF

Info

Publication number
CN103362736A
CN103362736A CN2012100973562A CN201210097356A CN103362736A CN 103362736 A CN103362736 A CN 103362736A CN 2012100973562 A CN2012100973562 A CN 2012100973562A CN 201210097356 A CN201210097356 A CN 201210097356A CN 103362736 A CN103362736 A CN 103362736A
Authority
CN
China
Prior art keywords
speed
wind
expression
generating set
maximum power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2012100973562A
Other languages
Chinese (zh)
Other versions
CN103362736B (en
Inventor
贾利民
刘展
雷涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing nenggaopukang measurement and Control Technology Co.,Ltd.
Original Assignee
BEIJING NEGO AUTOMATION TECHNOLOGY Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BEIJING NEGO AUTOMATION TECHNOLOGY Co Ltd filed Critical BEIJING NEGO AUTOMATION TECHNOLOGY Co Ltd
Priority to CN201210097356.2A priority Critical patent/CN103362736B/en
Publication of CN103362736A publication Critical patent/CN103362736A/en
Application granted granted Critical
Publication of CN103362736B publication Critical patent/CN103362736B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Landscapes

  • Control Of Eletrric Generators (AREA)
  • Wind Motors (AREA)

Abstract

The invention discloses a variable-speed variable-pitch wind generating set maximum power tracking control method based on internal model control. The variable-speed variable-pitch wind generating set maximum power tracking control method based on internal model control comprises the steps of (1) carrying out modeling on a wind generating set resisting moment response system to obtain a reference model, (2) designing an internal model controller on the basis of the reference model, and providing an analysis expression of the internal model controller, and (3) achieving optimal resisting moment control at the connection position between a hub and a main shaft low-speed shaft on the basis of the internal model control mode when the wind speed is smaller than the rated wind speed. Compared with a traditional maximum power tracking algorithm, the variable-speed variable-pitch wind generating set maximum power tracking control method based on internal model control effectively reduces influence caused by factors, such as aerodynamic moment fluctuation, measurement errors and modeling errors, on optimal resisting moment tracking, and efficiently achieves maximum power tracking on wind energy absorption of a wind wheel. Aiming for a common unit negative feedback single loop control system, the invention discloses an equivalent single loop unit negative feedback control system based on internal model control, and provides the analysis expression of the internal model controller.

Description

The speed-changing oar-changing wind power generating set is based on the maximum power tracing controlling method of internal model control
Technical field
The invention belongs to technical field of wind power generation, relate to the speed-changing oar-changing wind power generating set in the maximum power tracing controlling method that is lower than below the rated wind speed.
Background technique
Wind energy is the renewable energy sources that has economic value at present most, according to Energy Research Institute of China national Committee of Development and Reform issue " Development of Wind Power In China route map 2050 ", the developing goal in following 40 years of Wind Power In China: to the year two thousand twenty, the year two thousand thirty and the year two thousand fifty, installed capacity of wind-driven power will reach respectively 200,000,000,400,000,000 and 1,000,000,000 kilowatts, to the year two thousand fifty, wind-powered electricity generation will satisfy 17% domestic electricity needs.
At present, wind power generating set has become the capital equipment of Wind Power Utilization, and the speed-changing oar-changing wind power generating set is the wind driven generators of main flow.
The speed-changing oar-changing wind power generating set absorbs wind energy by wind wheel, utilizes transmission system will absorb wind energy and is delivered to the generator axle head, by generator mechanical energy is converted into electric energy, and the frictional damping of transmission system loss is the main source of transmission efficiency loss.
For high-power speed-changing oar-changing wind power generating set, transmission system can consider to simplify modeling according to desirable rigid link generally speaking, if realize dynamic analysis and control that transmission system is relatively accurate, usually can carry out modeling according to the multimass piece link of flexibility.
Do maximum power tracing control in certain wind speed section of high-power speed-changing oar-changing wind power generating set below being lower than rated wind speed, wind power generating set realizes maximum power tracing by what the control electromagnetic torque utilized wind wheel from the optimizing aerodynamic characteristic.
For traditional maximum power tracing control, the relatively ideal of in the control strategy transmission system being considered, do not consider the impact of each link of transmission system and drive characteristic, simultaneously because the wave properties of wind speed and the random aerodynamical moment fluctuation that causes producing behind the wind wheel wind-engaging have very strong uncertainty, therefore in the working control process, with respect to the optimal control torque track certain deviation is arranged, can not realize efficiently optimum maximum power tracing control.
In the speed-changing oar-changing wind power generating set transmission system input element, the generator electromagnetic torque is Controlled unit, and the wind wheel aerodynamical moment is because the randomness of wind and uncertainty are uncontrollable link.
Summary of the invention
The present invention proposes the maximum power tracing controlling method of a kind of speed-changing oar-changing wind power generating set below rated wind speed, the method is by carrying out modeling to wind power generating set resisting moment responding system, realize being lower than rated wind speed with the optimum resisting moment control of lower hub and main shaft lower velocity shaft joint based on the internal model control mode, reduced because the impact that the factors such as aerodynamical moment fluctuation, measurement error and modeling error are followed the tracks of optimum resisting moment realizes that effectively the wind wheel wind energy absorbs maximum power tracing.
Technological scheme of the present invention is that the speed-changing oar-changing wind power generating set is based on the maximum power tracing controlling method of internal model control.
As shown in Figure 1, think that in ideal the wind power generating set transmission system is strict rigid link and does not consider in the situation of damping, wind power generating set below being lower than rated wind speed in certain wind speed section the electromagnetic torque by the control wind energy conversion system meet BC section among optimal torque change curve such as Fig. 1, realize maximum power tracing.
And for the speed-changing oar-changing wind power generating set of reality, because its transmission system is flexible link and has damping, there is stronger uncertainty in the wind wheel aerodynamical moment simultaneously, after controlling according to traditional controlling method, because transmission system drive characteristic and the influence of fluctuations of wind wheel aerodynamical moment, practical function is difficult to accurately follow the tracks of optimal torque in wheel hub and the main shaft lower velocity shaft joint resisting moment opposite with sense of rotation causes wind wheel to fail to realize maximum power tracing.
For speed-changing oar-changing wind power generating set transmission system characteristic, in the situation that think that speed-changing oar-changing wind power generating set transmission system is flexible link and has friction, as shown in Figure 2, speed-changing oar-changing wind power generating set transmission system can equivalence be lower velocity shaft and high speed shaft two mass block link, in accordance with the following methods modelings:
Figure 2012100973562100002DEST_PATH_IMAGE006
In the formula
Figure 2012100973562100002DEST_PATH_IMAGE008
Expression lower velocity shaft (wind wheel end) rotating speed;
Figure 2012100973562100002DEST_PATH_IMAGE010
Expression wind wheel aerodynamical moment;
Figure 2012100973562100002DEST_PATH_IMAGE012
Expression lower velocity shaft (wind wheel end) rotary inertia;
Figure 2012100973562100002DEST_PATH_IMAGE014
The expression wheel hub resisting moment opposite with sense of rotation with main shaft lower velocity shaft joint;
Figure 2012100973562100002DEST_PATH_IMAGE016
Expression high speed shaft (generator end) rotating speed;
Figure 2012100973562100002DEST_PATH_IMAGE018
Expression high speed shaft (generator end) rotary inertia;
Figure 2012100973562100002DEST_PATH_IMAGE020
Expression generator electromagnetic torque;
Expression transmission system speed increasing ratio;
Figure 2012100973562100002DEST_PATH_IMAGE024
Expression transmission system transmission efficiency;
Figure 2012100973562100002DEST_PATH_IMAGE026
The equivalence of expression transmission system is to the lower velocity shaft stiffness coefficient;
Figure 2012100973562100002DEST_PATH_IMAGE028
The equivalence of expression transmission system is to the lower velocity shaft damping constant.
If state variable is , input variable is
Figure 2012100973562100002DEST_PATH_IMAGE032
, be output as
Figure 2012100973562100002DEST_PATH_IMAGE034
, then transmission system can be expressed as a third-order model:
Figure 2012100973562100002DEST_PATH_IMAGE036
Wherein
Figure 2012100973562100002DEST_PATH_IMAGE040
The rotary inertia of expression lower velocity shaft equivalence behind the high speed shaft
Then ssystem transfer function can be expressed as:
Figure 2012100973562100002DEST_PATH_IMAGE042
The ssystem transfer function block diagram can be expressed as following formula as shown in Figure 3:
Generally speaking, the rotary inertia of lower velocity shaft equivalence behind the high speed shaft
Figure DEST_PATH_IMAGE046
Also be significantly less than lower velocity shaft (wind wheel end) rotary inertia
Figure DEST_PATH_IMAGE048
, therefore from the angle of steady-state gain, the resisting moment that wheel hub is opposite with sense of rotation with main shaft lower velocity shaft joint
Figure DEST_PATH_IMAGE050
Mainly by
Figure DEST_PATH_IMAGE052
Produce,
Figure DEST_PATH_IMAGE054
Because wind wheel aerodynamical moment in the system
Figure DEST_PATH_IMAGE056
Produced by the wind wheel aerodynamical moment, be uncontrolled variable, can regard as and be outside input disturbance.
For speed-changing oar-changing wind power generating set electromagnetic torque response link
Figure DEST_PATH_IMAGE058
Modeling, usually the speed of response of electromagnetic torque is very fast, can be similar to think transient response, and when needs were accurately controlled, the electromagnetic torque response model can be similar to first order inertial loop and be expressed as follows:
Figure DEST_PATH_IMAGE060
The reference model that can obtain system based on above model is:
Figure DEST_PATH_IMAGE062
Go out optimum resisting moment internal model control system as shown in Figure 4 based on Reference Model Design, in this control system, the control target is optimum resisting moment , optimum resisting moment can be calculated according to the following formula:
Figure DEST_PATH_IMAGE066
In the formula
Figure DEST_PATH_IMAGE068
Represent optimum resisting moment coefficient;
Expression air density;
Figure DEST_PATH_IMAGE072
The expression wind wheel is swept the wind radius;
Figure DEST_PATH_IMAGE074
The expression wind wheel is lower than the constantly maximal wind-energy utilization factor of (propeller pitch angle is minimum) of rated wind speed work at blade;
Figure DEST_PATH_IMAGE076
Be illustrated in the optimum tip-speed ratio that blade is lower than rated wind speed when work (propeller pitch angle is minimum).
Feedback quantity is by the wheel hub of sensor detection and the torque measurement value of main shaft low speed end joint
Figure DEST_PATH_IMAGE078
Export with reference model
Figure DEST_PATH_IMAGE080
Error
Figure DEST_PATH_IMAGE082
The control target deviation can be calculated according to the following formula:
In the formula
Figure DEST_PATH_IMAGE086
Expression reference model output resistance square;
Figure DEST_PATH_IMAGE088
Expression is by sensor measuring system wheel hub and main shaft low speed end joint resisting moment;
Figure DEST_PATH_IMAGE090
Expression resisting moment error.
Controller is input as the control target deviation
Figure DEST_PATH_IMAGE092
, controller is output as the electromagnetic torque setting value
Figure DEST_PATH_IMAGE094
, controller output signal
Figure 347858DEST_PATH_IMAGE094
To electromagnetic torque response link, simultaneously controller output signal
Figure 86138DEST_PATH_IMAGE094
As the reference model
Figure DEST_PATH_IMAGE096
Input.
The concrete design method of inner model controller is as follows:
Step 1: set up the control object TRANSFER MODEL
Figure DEST_PATH_IMAGE098
Step 2: designing filter link and filter parameter, usually wave filter
Figure DEST_PATH_IMAGE100
Can be designed as:
Figure DEST_PATH_IMAGE102
In the formula
Figure DEST_PATH_IMAGE104
Be filter parameter;
Be filter parameter;
All be arithmetic number, and
Figure 714487DEST_PATH_IMAGE108
Might be identical.
Step 3: calculate internal mode controller
Figure DEST_PATH_IMAGE110
Can be calculated according to the following formula:
Figure DEST_PATH_IMAGE112
Step 4: when control system is during such as Fig. 5 single loop unit negative feedback type, calculate equivalent single loop unit negative feedback control device, controller transfer function
Figure DEST_PATH_IMAGE114
Can be calculated according to the following formula:
Figure DEST_PATH_IMAGE116
Reference model be input as the electromagnetic torque setting value
Figure DEST_PATH_IMAGE118
, reference model is output as
Figure DEST_PATH_IMAGE120
Electromagnetic torque response link be input as the electromagnetic torque setting value
Figure 500303DEST_PATH_IMAGE118
, be output as true electromagnetic torque The input variable of transmission link is , wind wheel aerodynamical moment wherein
Figure DEST_PATH_IMAGE126
For the uncontrollable input in outside, can see disturbance as, the generator electromagnetic torque
Figure 476611DEST_PATH_IMAGE122
Be controlled variable, be output as the wheel hub resisting moment opposite with sense of rotation with main shaft lower velocity shaft joint
Figure DEST_PATH_IMAGE128
Can pass through sensor measurement, and measured value is deducted reference model output
Figure DEST_PATH_IMAGE130
Be fed back into end as Modeling Error Feedback afterwards.
Description of drawings
Fig. 1 speed-changing oar-changing wind power generating set optimal torque control curve synoptic diagram
Fig. 2 transmission system two mass block modeling schematic diagram
Fig. 3 transmission system transfer function block diagram
Fig. 4 is based on the maximum power tracing closed loop control block diagram of internal model control
Fig. 5 is based on the unit reverse feedback maximum power tracing closed loop control block diagram of internal mold equivalence
Embodiment
Calculate the total rotary inertia of transmission system lower velocity shaft according to speed-changing oar-changing wind generator set blade and the distribution of wheel hub quality distance rotating center
Figure DEST_PATH_IMAGE132
Calculate the total rotary inertia of transmission system high speed shaft according to speed-changing oar-changing generator of wind generating set rotor quality apart from the rotating center distributed data
Figure 550616DEST_PATH_IMAGE132
, generally speaking transmission shaft or gear-box relatively rotate inertia very I ignore with approximate.
Obtain speed-changing oar-changing wind generator set blade aerofoil profile data, calculate wind wheel in the optimum resisting moment parameter that is lower than below the rated wind speed according to momentum-foline theorem, finite element method or according to the relative commercial software for calculation
Transmission system modeling related data can be obtained transmission efficiency according to the relevant unit data of kind of drive inquiry of transmission system , be equivalent to the stiffness coefficient of lower velocity shaft and be equivalent to the friction factor of lower velocity shaft Data, based on data carries out modelling by mechanism; Also can directly obtain the transmission system identification model with the mode of models fitting parameter identification by measuring the Correlation Identification data.
Although the speed-changing oar-changing wind power generating set is in the transmission efficiency of different operating point , be equivalent to the stiffness coefficient of lower velocity shaft and be equivalent to the friction factor of lower velocity shaft
Figure 859762DEST_PATH_IMAGE138
Etc. data different may be arranged, may there be measurement error by sensor measuring system wheel hub and main shaft low speed end joint resisting moment, the simultaneously fluctuation of external pneumatic moment causes system's output to have disturbance, but because internal model control can be fed back into end with the Error Feedback of model, therefore work as filter parameter and select rational situation lower hub and the main shaft lower velocity shaft joint resisting moment opposite with sense of rotation can obtain good optimum resisting moment tracking effect.
When electromagnetic torque response link time constant and transmission model are exported corresponding time constant and are more or less the same, must consider the electromagnetic torque dynamic response characteristic, can gather the Correlation Identification data by monitoring and directly obtain the moment responses identification model with the mode of models fitting parameter identification.
The resisting moment that wheel hub is opposite with sense of rotation with main shaft lower velocity shaft joint can by accurately measuring at wheel hub and main shaft lower velocity shaft joint installation dynamic torque sensor, can be installed two cover dynamic torque sensors by the redundant system reliability that improves in order to ensure the unit operation reliability usually.
Internal model control filter parameter design method can be adjusted by the empirical method adjusting or by the relevant intelligent search algorithm of off-line such as the optimizations such as genetic algorithm, ant group algorithm, also can carry out parameter tuning by the zero utmost point collocation method in the classical control theory.
The present invention is directed to the speed-changing oar-changing wind power generating set because the imperfect drive characteristic of its transmission system, simultaneously because the interference of external pneumatic torque fluctuations, the factors such as torque transducer measurement error and modeling error cause being lower than the situation that the optimum resisting moment of dynamically accurate tracking is controlled curve that is difficult to when the following unit of rated wind speed carries out maximum power tracing according to general control algorithm accurately, the optimum resisting moment control in a kind of wheel hub based on internal model control and main shaft lower velocity shaft joint tracking has been proposed, the method can effectively make wheel hub and main shaft lower velocity shaft joint resisting moment follow the tracks of optimum resisting moment change curve, effectively eliminated simultaneously because randomness and uncertainty and the measurement error of wind speed, the factors such as modeling error have effectively promoted the maximum power tracing ability of wind wheel to the dynamic tracking impact of optimum resisting moment.

Claims (10)

1. the speed-changing oar-changing wind power generating set is based on the maximum power tracing controlling method of internal model control, it is characterized in that the method is by carrying out modeling to the wind power generating set transmission system, realize being lower than rated wind speed with the optimum resisting moment control of lower hub and main shaft lower velocity shaft joint based on the internal model control mode, reduced because the impact that the factors such as aerodynamical moment fluctuation, measurement error and modeling error are followed the tracks of optimum resisting moment realizes that effectively the wind wheel wind energy absorbs maximum power tracing.
2. described speed-changing oar-changing wind power generating set is characterized in that based on the maximum power tracing controlling method of internal model control transmission system can equivalence be lower velocity shaft and high speed shaft two mass block links, in accordance with the following methods modeling in its control object according to claim 1:
Figure 810873DEST_PATH_IMAGE001
In the formula
Figure 277627DEST_PATH_IMAGE002
Expression lower velocity shaft (wind wheel end) rotating speed;
Figure 657793DEST_PATH_IMAGE003
Expression wind wheel aerodynamical moment;
Figure 969825DEST_PATH_IMAGE004
Expression lower velocity shaft (wind wheel end) rotary inertia;
Figure 17416DEST_PATH_IMAGE005
The expression wheel hub resisting moment opposite with sense of rotation with main shaft lower velocity shaft joint;
Expression high speed shaft (generator end) rotating speed;
Figure 587779DEST_PATH_IMAGE007
Expression high speed shaft (generator end) rotary inertia;
Expression generator electromagnetic torque;
Figure 871179DEST_PATH_IMAGE009
Expression transmission system speed increasing ratio;
Figure 148576DEST_PATH_IMAGE010
Expression transmission system transmission efficiency;
Figure 565651DEST_PATH_IMAGE011
The equivalence of expression transmission system is to the lower velocity shaft stiffness coefficient;
Figure 485065DEST_PATH_IMAGE012
The equivalence of expression transmission system is to the lower velocity shaft damping constant
If state variable is
Figure 510178DEST_PATH_IMAGE013
, input variable is
Figure 958477DEST_PATH_IMAGE014
, be output as
Figure 66110DEST_PATH_IMAGE015
, then transmission system can be expressed as a third-order model:
Figure 789215DEST_PATH_IMAGE016
Wherein
Figure 197063DEST_PATH_IMAGE017
The rotary inertia of expression lower velocity shaft equivalence behind the high speed shaft
Then ssystem transfer function can be expressed as:
Figure 995879DEST_PATH_IMAGE019
。
3. described speed-changing oar-changing wind power generating set is characterized in that the electromagnetic torque response model can be similar to first order inertial loop to be expressed as follows based on the maximum power tracing controlling method of internal model control according to claim 1:
Figure 991517DEST_PATH_IMAGE020
。
4. described speed-changing oar-changing wind power generating set is characterized in that based on the maximum power tracing controlling method of internal model control the control target is optimum resisting moment in the maximum power tracing control system according to claim 1 , optimum resisting moment can be calculated according to the following formula:
Figure 43972DEST_PATH_IMAGE022
In the formula
Figure 595039DEST_PATH_IMAGE023
Represent optimum resisting moment coefficient;
Figure 394368DEST_PATH_IMAGE024
Expression air density;
Figure 980070DEST_PATH_IMAGE025
The expression wind wheel is swept the wind radius;
Figure 472231DEST_PATH_IMAGE026
The expression wind wheel is lower than the constantly maximal wind-energy utilization factor of (propeller pitch angle is minimum) of rated wind speed work at blade;
Be illustrated in the optimum tip-speed ratio that blade is lower than rated wind speed when work (propeller pitch angle is minimum).
5. described speed-changing oar-changing wind power generating set is characterized in that controlling target deviation based on the maximum power tracing controlling method of internal model control according to claim 1
Figure 116544DEST_PATH_IMAGE028
Can be calculated according to the following formula:
Figure 822332DEST_PATH_IMAGE029
In the formula
Figure 485394DEST_PATH_IMAGE030
Expression reference model output resistance square;
Expression is by sensor measuring system wheel hub and main shaft low speed end joint resisting moment;
Figure 152185DEST_PATH_IMAGE032
Expression resisting moment error.
6. described speed-changing oar-changing wind power generating set is characterized in that based on the maximum power tracing controlling method of internal model control controller is input as the control target deviation according to claim 1
Figure 712479DEST_PATH_IMAGE033
, controller is output as the electromagnetic torque setting value
Figure 611689DEST_PATH_IMAGE034
, controller output signal
Figure 624645DEST_PATH_IMAGE035
To electromagnetic torque response link, simultaneously controller output signal
Figure 569467DEST_PATH_IMAGE035
As the reference model
Figure 249847DEST_PATH_IMAGE036
Input, reference model
Figure 989133DEST_PATH_IMAGE036
Can be expressed as:
Figure 489384DEST_PATH_IMAGE037
。
7. described speed-changing oar-changing wind power generating set is characterized in that based on the maximum power tracing controlling method of internal model control the concrete design method of inner model controller is as follows according to claim 1:
Step 1: set up the control object TRANSFER MODEL
Figure 2012100973562100001DEST_PATH_IMAGE039
Figure 2012100973562100001DEST_PATH_IMAGE041
Step 2: designing filter link and filter parameter, usually wave filter
Figure DEST_PATH_IMAGE043
Can be designed as:
Figure DEST_PATH_IMAGE045
In the formula
Be filter parameter;
Figure DEST_PATH_IMAGE049
Be filter parameter;
Figure DEST_PATH_IMAGE051
All be arithmetic number, and
Figure 473783DEST_PATH_IMAGE051
Might be identical;
Step 3: calculate internal mode controller
Figure DEST_PATH_IMAGE053
, can be calculated according to the following formula:
Figure DEST_PATH_IMAGE055
。
According to claim 1 described speed-changing oar-changing wind power generating set based on the maximum power tracing controlling method of internal model control, it is characterized in that when control system is single loop unit's negative feedback type, calculate equivalent single loop unit negative feedback control device, controller transfer function
Figure DEST_PATH_IMAGE057
Can be calculated according to the following formula:
Figure DEST_PATH_IMAGE059
。
9. described speed-changing oar-changing wind power generating set is based on the maximum power tracing controlling method of internal model control according to claim 1, and what it is characterized in that reference model is input as the electromagnetic torque setting value
Figure DEST_PATH_IMAGE061
, reference model is output as
Figure DEST_PATH_IMAGE063
10. described speed-changing oar-changing wind power generating set is based on the maximum power tracing controlling method of internal model control according to claim 1, and what it is characterized in that electromagnetic torque response link is input as the electromagnetic torque setting value
Figure 397220DEST_PATH_IMAGE061
, be output as true electromagnetic torque
Figure DEST_PATH_IMAGE065
The input variable of transmission link is
Figure DEST_PATH_IMAGE067
, wind wheel aerodynamical moment wherein
Figure DEST_PATH_IMAGE069
For the uncontrollable input in outside, can see disturbance as, the generator electromagnetic torque
Figure DEST_PATH_IMAGE071
Be controlled variable, be output as the wheel hub resisting moment opposite with sense of rotation with main shaft lower velocity shaft joint
Figure DEST_PATH_IMAGE073
Can pass through sensor measurement, and measured value is deducted reference model output
Figure DEST_PATH_IMAGE075
Be fed back into end as Modeling Error Feedback afterwards.
CN201210097356.2A 2012-04-05 2012-04-05 Speed-changing oar-changing wind power generating set is based on the maximum power tracing control method of internal model control Active CN103362736B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210097356.2A CN103362736B (en) 2012-04-05 2012-04-05 Speed-changing oar-changing wind power generating set is based on the maximum power tracing control method of internal model control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210097356.2A CN103362736B (en) 2012-04-05 2012-04-05 Speed-changing oar-changing wind power generating set is based on the maximum power tracing control method of internal model control

Publications (2)

Publication Number Publication Date
CN103362736A true CN103362736A (en) 2013-10-23
CN103362736B CN103362736B (en) 2015-09-02

Family

ID=49364824

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210097356.2A Active CN103362736B (en) 2012-04-05 2012-04-05 Speed-changing oar-changing wind power generating set is based on the maximum power tracing control method of internal model control

Country Status (1)

Country Link
CN (1) CN103362736B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105179164A (en) * 2015-06-25 2015-12-23 江苏科技大学 Wind energy converting system sliding mode control method and device based on T-S fuzzy model
CN107218175A (en) * 2017-06-23 2017-09-29 南京理工大学 It is a kind of to realize the rotating-speed tracking purpose optimal method that wind energy conversion system maximizes Wind energy extraction efficiency
CN113007021A (en) * 2021-03-18 2021-06-22 上海第二工业大学 Command filtering backstepping control method and controller for variable speed wind driven generator
CN113833603A (en) * 2021-09-13 2021-12-24 华北电力大学 Operation control method for double-wind-wheel wind generating set

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0008584B1 (en) * 1978-08-17 1981-12-30 United Technologies Corporation Multi-mode control system for wind turbines
WO2000068744A1 (en) * 1999-05-07 2000-11-16 The Boeing Company Optimal control system
WO2001097359A1 (en) * 2000-06-14 2001-12-20 Ulrik Krabbe A method and a device for stabilizing power generated by groups of generators
CN101603503A (en) * 2009-07-21 2009-12-16 南京航空航天大学 A kind of internal model control method of fixed pitch wind turbine
CN102023570A (en) * 2009-09-09 2011-04-20 西门子公司 Method for computer-supported learning of a control and/or regulation of a technical system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0008584B1 (en) * 1978-08-17 1981-12-30 United Technologies Corporation Multi-mode control system for wind turbines
WO2000068744A1 (en) * 1999-05-07 2000-11-16 The Boeing Company Optimal control system
WO2001097359A1 (en) * 2000-06-14 2001-12-20 Ulrik Krabbe A method and a device for stabilizing power generated by groups of generators
CN101603503A (en) * 2009-07-21 2009-12-16 南京航空航天大学 A kind of internal model control method of fixed pitch wind turbine
CN102023570A (en) * 2009-09-09 2011-04-20 西门子公司 Method for computer-supported learning of a control and/or regulation of a technical system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105179164A (en) * 2015-06-25 2015-12-23 江苏科技大学 Wind energy converting system sliding mode control method and device based on T-S fuzzy model
CN105179164B (en) * 2015-06-25 2018-11-09 江苏科技大学 Wind-energy changing system sliding-mode control and device based on T-S fuzzy models
CN107218175A (en) * 2017-06-23 2017-09-29 南京理工大学 It is a kind of to realize the rotating-speed tracking purpose optimal method that wind energy conversion system maximizes Wind energy extraction efficiency
CN107218175B (en) * 2017-06-23 2019-03-05 南京理工大学 A kind of rotating-speed tracking purpose optimal method realized wind energy conversion system and maximize Wind energy extraction efficiency
CN113007021A (en) * 2021-03-18 2021-06-22 上海第二工业大学 Command filtering backstepping control method and controller for variable speed wind driven generator
CN113833603A (en) * 2021-09-13 2021-12-24 华北电力大学 Operation control method for double-wind-wheel wind generating set

Also Published As

Publication number Publication date
CN103362736B (en) 2015-09-02

Similar Documents

Publication Publication Date Title
CN103362735B (en) The maximum power tracing controlling method that speed-changing oar-changing wind power generating set is followed the tracks of based on optimum resisting moment
CN103362738B (en) Speed-changing oar-changing wind power generating set is based on the maximum power tracing control method of feed forward decoupling control
CN104314757B (en) A kind of wind generating set yaw control method and system
Xudong et al. Shape optimization of wind turbine blades
CN102797629B (en) Wind turbine generator control method, controller and control system of wind turbine generator
CN201574881U (en) Automatic wind direction tracking system of wind power generator
CN103244350A (en) Method for tracking and controlling optimum tip speed ratio of wind power generation unit
CN102072083B (en) Maximum wind energy tracking method for double-fed wind power generation system
CN102213182A (en) Method for obtaining yaw error angle, yaw control method/device and wind generating set
CN103410659B (en) Effective wind speed obtaining method of wind generating set based on High-Gain observer
CN103742357B (en) A kind of wind-driven generator group wind-wheel non-symmetrical load control method
CN101806282A (en) Optimized wind power utilization-based low rated wind speed wind power generation control system
CN110145436A (en) Non-linear economic model forecast control method applied to blower
CN106762403B (en) Wind-powered electricity generation variable speed constant frequency generating unit speed controls adaptive optimization method
CN107061158A (en) A kind of prediction of low wind speed leeward power generator and tracking and controlling method
CN104675629A (en) Maximum wind energy capturing method of variable-speed wind generating sets
CN103362736A (en) Variable-speed variable-pitch wind generating set maximum power tracking control method based on internal model control
CN103746628B (en) Method for controlling rotor-side converter of doubly fed induction generator (DFIG)
CN105138845B (en) The method for obtaining wind-driven generator air speed value
CN102156044A (en) Wind turbine simulator applicable to testing of direct driving type wind generating set and model selection method thereof
Bertašienė et al. Synergies of Wind Turbine control techniques
CN103375332A (en) Dynamic optimization method for optimal resisting moment in variable-speed variable-pitch wind generating unit
CN202768249U (en) Wind generation set control system based on pneumatic torque calculation model
CN109611268B (en) Design optimization method for double-impeller horizontal shaft wind turbine
CN112682258B (en) Backstepping-based large wind turbine maximum power point tracking control method

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20211206

Address after: 100071 room 1973, 9 / F, building 19, District 16, No. 188, South Fourth Ring West Road, Fengtai District, Beijing

Patentee after: Beijing nenggaopukang measurement and Control Technology Co.,Ltd.

Address before: 100044 6th floor, Zhixing building, Beijing Jiaotong University, Xizhimenwai, Haidian District, Beijing

Patentee before: BEIJING NEGO AUTOMATION TECHNOLOGY Co.,Ltd.

TR01 Transfer of patent right