CN103454106B - The static test of a kind of paddle change system of wind turbines executing agency - Google Patents
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Abstract
The static test that the invention discloses a kind of paddle change system of wind turbines executing agency, mainly comprises: the responsiveness to blade is tested; Propeller pitch angle in paddle change system of wind turbines executing agency is carried out to given step test. The static test of paddle change system of wind turbines of the present invention executing agency, can overcome in prior art the defects such as the low and poor reliability of computational efficiency, to realize the advantage of the high and good reliability of computational efficiency.
Description
Technical field
The present invention relates to technical field of wind power generation, particularly, relate to a kind of paddle change system of wind turbines executing agencyStatic test.
Background technology
Along with the grid integration of large-scale wind power unit and wind energy turbine set, all bring new choosing to Electric Power Network Planning and operationWar. Especially away from load center district and the huge wind-powered electricity generation base of capacity, its operation characteristic certainly will be to the stable operation of electrical networkForm obviously impact. For to cope with challenges, solve the problem such as electricity net safety stable economical operation in wind farm grid-connected situation, electrical networkNeed to implement advanced technology and control measures, and these all be unable to do without the imitative of the power system that comprises wind-powered electricity generation unit, wind energy turbine setTrue research, be unable to do without wind-powered electricity generation unit and wind energy turbine set Mathematical Modeling and the accurately research of parameter. And the mensuration of these parameters needsMethod by a series of tests obtains.
Wind power generating set and wind energy turbine set test data analysis method, mainly refer to for identification wind power generating set and windThe method of electric field model parameter. The test data analysis method of wind power generating set and wind energy turbine set and the modeling of power system tradition are realSurvey parametric technique is consistent, substantially can be divided into linear and non-linear two classes. Linear method comprises least-squares estimation, Kalman filteringEtc. method, these two kinds of algorithms are normally effective to linear model, build at power system excitation system, governing system and loadIn mould, be all widely used. The parameter identification method of nonlinear model, at present mostly to be optimized for basis, as gradient class sideMethod, has good performance for continuous, smooth, unimodal problem, accurately and fast; Random class searching method, has goodConvergence, of overall importance and robustness, but computational efficiency is lower; Simulation evolution class methods, the scope of application is wider, finds the overall situationThe possibility of excellent solution or intimate globally optimal solution is large. Below, specifically for wind power generating set and wind energy turbine set modeling and parameter surveyTrying needed analytical method is introduced.
Least square method is a kind of outstanding Data Management Analysis method, and it is by making the quadratic sum of generalized error minimum nextDetermine the parameter of model, its general principle is as follows:
Overall thinking approximate functionWith the data point of giving(i=0,1 ..., m) error(i=0,1 ..., size m), conventional method has following three kinds: the one, error（i=0，1 ..., the m) maximum of absolute value, i.e. error vector∞-norm; The 2nd, Error Absolute ValueAnd, i.e. 1-norm of error vector r; The 3rd, error sum of squaresArithmetic square root, i.e. 2-model of error vector rNumber; First two method is simple, nature, but is not easy to differentiate, a kind of rear method be equivalent to consider 2-norm square,Therefore the normal error sum of squares that adopts in curveCarry out measurement error(i=0,1 ..., entirety size m).
The concrete practice of data fitting is: to data-oriented(i=0,1 ..., m), getting fixed function classIn,Ask, make error(i=0,1 ..., quadratic sum minimum m), that is:
=；
From geometric meaning, seek exactly and set point(i=0,1 ..., square distance m) and be minimumCurve. FunctionBe called fitting function or least square solution, ask fitting functionMethod be called curve intendThe least square method of closing, referring to Fig. 1.
Least square method is the classical way that solves power system component modeling and parameter testing, and theory is very ripe, wideThe parameter testing of general power application system modelling. The shortcoming of least square method is that it need to solve partial differential value, computational process phaseTo loaded down with trivial details, and be subject to the impact of its iteration gain matrix very large, mainly in the time of model structure relative complex, dyscalculia.
Kalman filtering, at the beginning of the seventies, is introduced in the powerful of power system as data processing, starts at electricityIn power system state estimation and modeling actual measurement, be applied. The criterion of Kalman filtering be make state vector error varianceLittle, Basic practice is to regard unknown parameter vector as newly increase state vector, once be estimated when new state vectorOut, unknown parameter has also been estimated naturally, and the problem of such parameter identification is just converted into the problem of a filtering.
For linear system, its dynamical equation is simplified shown as:
；
Wherein, the normal white noise sequences that noise is zero-mean.
Kalman filter method is that hypothesis measured and waited vector in the k moment, and inquired into the vectorial X(k of estimated state).Require now further at the measurement amount Z(k+1 that measures (k+1) moment) after, obtain the state vector in this moment and estimate X(k+ 1), the criterion of estimation is that to make the error covariance matrix of state vector be minimum,
；
Kalman filtering algorithm requires noisy statistical knowledge, and algorithm is strong to the selected sensitiveness of parameter initial value.The power system that we are concerned about can not be described with simple linear model conventionally, and need to describe with nonlinear model,Need to adopt augmented state equation and Extended Kalman Filter to this, this respect theoretical research is very ripe, is also widely used inIn electric system simulation modeling analysis.
Realizing in process of the present invention, inventor finds at least to exist in prior art the low and poor reliability of computational efficiencyEtc. defect.
Summary of the invention
The object of the invention is to, for the problems referred to above, propose the static state of a kind of paddle change system of wind turbines executing agencyMethod of testing, to realize the advantage of computational efficiency height and good reliability.
For achieving the above object, the technical solution used in the present invention is: a kind of paddle change system of wind turbines executing agencyStatic test, mainly comprises:
A, the responsiveness of blade in paddle change system of wind turbines executing agency is tested;
B, propeller pitch angle in paddle change system of wind turbines executing agency is carried out to given step test.
Further, described step a, specifically comprises: the stroke limiter of blade is placed in to fully open position, carries out bladeStandard-sized sheet, complete shut-down test. This stroke limiter is the system of wind-powered electricity generation unit for forced partial outage, and being placed in fully open position can ensureWind-powered electricity generation unit output is from 0 excursion to nominal output.
Further, the described stroke limiter by blade is placed in fully open position, carries out blade standard-sized sheet, complete shut-down testOperation, specifically comprises:
Step 1: carry out 0 ° of-90 ° of-0 ° of large steppeds test of propeller pitch angle instruction in paddle change system of wind turbines executing agency;
Step 2: the action of emergency shutdown magnetic valve or the involution of operation blade, record blade change procedure.
Further, described step b, specifically comprises:
Step 1: the stroke limiter of blade is placed in to fully open position, propeller pitch angle is adjusted to 30 °, carry out propeller pitch angle and giveDetermine step test;
Step 2: the stroke limiter of blade is placed in to fully open position, propeller pitch angle is adjusted to 60 °, repeating step 1Operation;
Step 3: the stroke limiter of blade is placed in to fully open position, propeller pitch angle is adjusted to 80 °, repeating step 1Operation.
Further, in step 1, in the described operation of carrying out the given step test of propeller pitch angle, step amount is respectivelyPositive and negative 1 °, 2 °, 5 °, 10 ° and 30 °, each step experimental evidence needs can be repeatedly.
Further, described paddle change system of wind turbines executing agency, comprises input and the master control of controlling for becoming slurryThe change slurry frequency converter that the output of PLC connects and output is connected with the input that becomes slurry motor, and input passes through gearEngagement is connected with the output that becomes slurry motor and output engages the change slurry decelerator being connected with blade by gear;
The position feedback output of described change slurry motor is connected with the position feedback input that becomes slurry frequency converter, described master controlThe output of PLC is sent to position command by communication line the input that becomes slurry frequency converter.
Further, described change slurry frequency converter, is specially PID frequency converter.
Further, described change slurry motor, is specially stepper motor.
The static test of the paddle change system of wind turbines executing agency of various embodiments of the present invention, owing to mainly comprising:Responsiveness to blade is tested, and propeller pitch angle in paddle change system of wind turbines executing agency is carried out to given step test;Can carry out static test for paddle change system of wind turbines executing agency, thereby realize the identification of wind-powered electricity generation unit relevant parameter;Thereby the defect that can overcome the low and poor reliability of computational efficiency in prior art is high and good reliability to realize computational efficiencyAdvantage.
Other features and advantages of the present invention will be set forth in the following description, and, partly from description, becomeObtain obviously, or understand by implementing the present invention.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Brief description of the drawings
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for description, with reality of the present inventionExecute example one and be used from explanation the present invention, be not construed as limiting the invention. In the accompanying drawings:
Fig. 1 is the curve synoptic diagram of the least square method of existing curve;
Fig. 2 is that in the static test of paddle change system of wind turbines of the present invention executing agency, paddle change system of wind turbines is heldThe operation principle schematic diagram of row mechanism;
Fig. 3 is that in the static test of paddle change system of wind turbines of the present invention executing agency, wind power generating set is carried out machineThe Mathematical Modeling block diagram of structure.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, should be appreciated that preferred reality described hereinExecute example only for description and interpretation the present invention, be not intended to limit the present invention.
In order to analyze the impact of wind-power electricity generation on power system dynamic step response, need to set up wind power generating set and wind energy turbine setDynamic mathematical models. Wind power generating set is one and comprises multi-disciplinary complication system, and the operation principle of blade is based on airDynamics, the operation principle of transmission system relates to mechanical theory, and generator is realized energy converting between mechanical, and wind power control system is wideGeneral control theory and the electrical principle of relating to. Therefore,, completing after the dynamic modeling of wind power generating set, carry out verification experimental verification right and wrongNormal necessary and useful.
According to the embodiment of the present invention, as shown in Figures 2 and 3, provide a kind of paddle change system of wind turbines executing agencyStatic test, is specially a kind of paddle change system of wind turbines executing agency's acting characteristic static test and parameter identification sideMethod, can be applied to modeling and the debugging of control system of wind turbines. The static state of this paddle change system of wind turbines executing agency is surveyedMethod for testing, carries out static test mainly for paddle change system of wind turbines executing agency, thereby realizes wind-powered electricity generation unit relevant parameterIdentification.
Referring to Fig. 2, wind-powered electricity generation unit executing agency (being paddle change system of wind turbines executing agency), mainly by connecting successivelyBecome oar frequency converter, pitch motor and variable paddle speed reducer and form, the position feedback end that becomes slurry motor will become the physical location of slurry motorFeed back to become and starch frequency converter, the input that becomes slurry frequency converter connects by CAN communication line and for the main control PLC that becomes slurry controlConnect, become slurry decelerator and engage with blade (become paddle sheet, claim again blade) and connect by gear. Main control PLC, can pass through CANCommunication line, is sent to by the position command that becomes slurry control the input that becomes slurry frequency converter.
Referring to Fig. 3, wind-powered electricity generation unit executing agency, can represent by Mathematical Modeling as shown in Figure 3. In Fig. 3, at Fig. 3In, LVDT(LinearVariableDifferentialTransformer) be linear variable difference transformer abbreviation, belong toIn linear displacement transducer; VEL is a kind of AES; The meaning of other each symbols is as follows:
Tc: stepper motor shut-in time constant (second);
To: stepper motor opening time constant (second);
VELclose: overrun and close coefficient (per unit value);
VELopen: overrun and open coefficient (per unit value);
PMAX: maximum prime mover power output (stepper motor range or blade maximum opening) (per unit value);
PMIN: minimum prime mover power output (the minimum aperture of stepper motor minimum stroke or blade) (per unit value);
T2: blade travel feedback link (LVDT) time (second);
KP: PID module ratio amplifying element multiple;
KD(Td): PID module differentiation element multiple;
KI(1/Ti): PID module integral element multiple;
The static test of the paddle change system of wind turbines executing agency of the present embodiment, i.e. the acting characteristic of blade testProcess, mainly comprises:
(1) blade responsiveness test:
Stroke limiter is placed in to fully open position, carries out blade standard-sized sheet, complete shut-down test.
Step 1: carry out 0 ° of-90 ° of-0 ° of large steppeds test of propeller pitch angle instruction;
Step 2: the magnetic valve action of operation emergency shutdown or involution, record blade change procedure.
(2) the given step test of propeller pitch angle:
Step 1: stroke limiter is placed in to fully open position, propeller pitch angle is adjusted to 30 °, carry out the given step of propeller pitch angleTest, step amount is respectively positive and negative 1 °, 2 °, 5 °, 10 ° and 30 °, and each step experimental evidence needs can be repeatedly.
Step 2: stroke limiter is placed in to fully open position, propeller pitch angle is adjusted to 60 °, the content of repeating step 1.
Step 3: stroke limiter is placed in to fully open position, propeller pitch angle is adjusted to 80 °, the content of repeating step 1.
In sum, the static test of the paddle change system of wind turbines executing agency of the various embodiments described above of the present invention,Carry out static test mainly for paddle change system of wind turbines executing agency, thereby realize the identification of wind-powered electricity generation unit relevant parameter.By the static test of this paddle change system of wind turbines executing agency, can obtain each key parameter of wind-powered electricity generation model and testThe correctness of card wind turbine model.
Finally it should be noted that: the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention,Although the present invention is had been described in detail with reference to previous embodiment, for a person skilled in the art, it still canSo that the technical scheme that aforementioned each embodiment was recorded is modified, or part technical characterictic is wherein equal to replacement.Within the spirit and principles in the present invention all, any amendment of doing, be equal to replacement, improvement etc., all should be included in of the present inventionWithin protection domain.
Claims (8)
1. a static test for paddle change system of wind turbines executing agency, is characterized in that, mainly comprises:
A, the responsiveness of blade in paddle change system of wind turbines executing agency is tested;
B, propeller pitch angle in paddle change system of wind turbines executing agency is carried out to given step test;
The static test of this paddle change system of wind turbines executing agency, mainly for paddle change system of wind turbines executing agencyCarry out static test, realize the identification of wind-powered electricity generation unit relevant parameter; By the static state of this paddle change system of wind turbines executing agencyMethod of testing, can obtain wind-powered electricity generation model each key parameter and checking wind turbine model correctness.
2. the static test of paddle change system of wind turbines according to claim 1 executing agency, is characterized in that instituteState step a, specifically comprise: the stroke limiter of blade is placed in to fully open position, carries out blade standard-sized sheet, complete shut-down test.
3. the static test of paddle change system of wind turbines according to claim 2 executing agency, is characterized in that instituteState the stroke limiter of blade be placed in to fully open position, carry out the operation of blade standard-sized sheet, complete shut-down test, specifically comprise:
Step 1: carry out 0 ° of-90 ° of-0 ° of large steppeds test of propeller pitch angle instruction in paddle change system of wind turbines executing agency;
Step 2: the action of emergency shutdown magnetic valve or the involution of operation blade, record blade change procedure.
4. the static test of paddle change system of wind turbines according to claim 1 executing agency, is characterized in that instituteState step b, specifically comprise:
Step 1: the stroke limiter of blade is placed in to fully open position, propeller pitch angle is adjusted to 30 °, carry out propeller pitch angle Given OrderTest jumps;
Step 2: the stroke limiter of blade is placed in to fully open position, propeller pitch angle is adjusted to 60 °, the operation of repeating step 1;
Step 3: the stroke limiter of blade is placed in to fully open position, propeller pitch angle is adjusted to 80 °, the operation of repeating step 1.
5. the static test of paddle change system of wind turbines according to claim 4 executing agency, is characterized in that,In step 1, in the described operation of carrying out the test of the given step of propeller pitch angle, step amount be respectively positive and negative 1 °, 2 °, 5 °, 10 ° and30 °, each step experimental evidence needs can be repeatedly.
6. according to the static test of the paddle change system of wind turbines executing agency described in any one in claim 1-5, itsBe characterised in that described paddle change system of wind turbines executing agency comprises input and output for becoming the main control PLC that slurry controlsThe change slurry frequency converter that end connects and output is connected with the input that becomes slurry motor, and input engages by gear and becomesThe output of slurry motor connects and output engages the change slurry decelerator being connected with blade by gear;
The position feedback output of described change slurry motor is connected with the position feedback input that becomes slurry frequency converter, described main control PLCOutput by communication line by position command be sent to become slurry frequency converter input.
7. the static test of paddle change system of wind turbines according to claim 5 executing agency, is characterized in that instituteState and become slurry frequency converter, be specially PID frequency converter.
8. the static test of paddle change system of wind turbines according to claim 5 executing agency, is characterized in that instituteState and become slurry motor, be specially stepper motor.
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| CN108894916B (en) * | 2018-06-11 | 2019-12-03 | 四川茂烨建筑智能化工程有限公司 | A kind of wind-driven generator rotation speed regulating and controlling system |
| CN110671266A (en) * | 2019-11-13 | 2020-01-10 | 大连理工大学 | Intelligent variable-pitch electromechanical control optimization method |
| CN110866315B (en) * | 2019-11-20 | 2021-08-24 | 重庆大学 | Electric drive system multi-field coupling optimization method based on bond diagram modeling |
| CN113391575A (en) * | 2020-03-13 | 2021-09-14 | 新疆金风科技股份有限公司 | Method and device for identifying online state of variable pitch actuating mechanism of wind generating set |
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| CN102589914A (en) * | 2012-02-01 | 2012-07-18 | 国电南瑞科技股份有限公司 | All-digital testbed for electric pitch control system of wind generating set |
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Effective date of registration: 20141215 Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Applicant after: State Grid Corporation of China Applicant after: State Grid Gansu Electric Power Company Applicant after: Wind Power Technology Center, Gansu Electric Power Co., Ltd. Applicant after: China Electric Power Research Institute Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Applicant before: State Grid Corporation of China Applicant before: Gansu Electric Power Corporation Applicant before: Wind Power Technology Center, Gansu Electric Power Co., Ltd. |
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