CN103603767B - A kind of extremum search controling parameters self-adapting regulation method based on sliding formwork - Google Patents
A kind of extremum search controling parameters self-adapting regulation method based on sliding formwork Download PDFInfo
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- CN103603767B CN103603767B CN201310426365.6A CN201310426365A CN103603767B CN 103603767 B CN103603767 B CN 103603767B CN 201310426365 A CN201310426365 A CN 201310426365A CN 103603767 B CN103603767 B CN 103603767B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The present invention relates to a kind of extremum search controling parameters self-adapting regulation method based on sliding formwork, comprising step has: (1), every sampling period Δ t, gathers the real output p of t (current time) from generator output end
st (), obtains current wind speed from wind speed measuring device; (2) optimum speed under current wind speed is derived; (3) regulation coefficient γ is calculated; (4) based on the parameter adjustment that the extremum search of sliding formwork controls, if | p
s(t)-p
wmax(t) | & gt; ξ, ξ are little threshold value, then make Z
0=Z
0× γ, U
0=U
0× γ; Otherwise, keep Z
0, U
0constant, t=t+ Δ t also forwards to and 2. walks; (5) control system is by sliding formwork motion rapid adjustment generator speed ω
rto its optimum speed ω
ref; (6) make the power curve of output closest to best power curve.The present invention, according to current wind speed environments adaptive control system parameter, makes the power curve of output more close to best curve, makes power coefficient C
preturn to maximum value.
Description
Technical field
The invention belongs to double-fed variable-speed constant-frequency wind power generation system technical field, especially a kind of extremum search controling parameters self-adapting regulation method based on sliding formwork.
Background technique
Wind generating technology worldwide achieves fast development nearly ten years, and wind power system single-machine capacity has increased to current 5-6MW by several thousand W of the nineties in last century.In effective wind speed range, how improving the utilization ratio of wind energy to greatest extent and improve the working efficiency of wind energy turbine set, namely wind power system maximal power point tracking and the problem of adjustment, be a hot issue of output of wind electric field regulation and control always.
Relevant wind power system maximal power point tracking problem, domestic and international researcher proposes numerous significant algorithm and strategy.Adopt optimum tip-speed ratio method to realize maximal power point tracking, the method control principle is simple, but needs to carry out accurate in real time measurement to wind speed, reduces the validity of control.Adopt so-called climbing method to realize generator maximum wind energy to follow the trail of, but the precision that the shortcoming of the method is controller still needs to be improved further.WRBFN neuron network is combined with hill-climbing algorithm and solves the not high enough shortcoming of hill-climbing algorithm control accuracy, but direct-drive permanent-magnetism formula variable speed constant frequency wind power system can only be applicable to.The so-called Feedback of Power method obtaining the optimal output curve corresponding with set wind speed curve based on l-G simulation test controls to realize maximal power point tracking, because wind speed curve is change at random, how to obtain representational best power blast velocity control curve rapidly for the very complicated different wind speed curve of change is the difficult point that the method needs to overcome.Based on the optimal wind energy method for tracing of Sliding mode variable structure control strategy, the method has the feature of no error following and fast response time, but its shortcoming may produce vibration near maximum power point.Based on the maximal power point tracking strategy of fuzzy control strategy, the great advantage of the method is without the need to carrying out Accurate Model to controlled device, but controller control accuracy is relatively low.Based on the wind-powered electricity generation maximum output method for tracing of perturbation extremum search, the method is also without the need to setting up accurate model to control object, but owing to needing extra introducing excitation pulse and high-pass filter, reduce the reaction velocity of control on the one hand, too increase the complexity of control system on the other hand.Extremum search based on sliding formwork controls, this controlling method does not only need the mathematical model of control object, and control principle is simple, and control effects is good, shortcoming is that this controlling method exists three parameters, if the improper meeting of optimum configurations reduces the quality of control greatly, and conventional method is the method adopting emulation, and carrying out people is repeatedly parameter adjustment, and obtain the parameter with reasonable Control platform, when system architecture changes, adjust accordingly again, therefore very loaded down with trivial details.Can find out, current respectively have advantage for wind-powered electricity generation maximal power point tracking controlling method, but also all there is some problems.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, there is provided a kind of extremum search controling parameters self-adapting regulation method based on sliding formwork, the method can control ρ, the Z of (SM-ESC) according to the control structure of double-fed variable speed constant frequency Wind turbines and the current wind speed environments extremum search automatically adjusted based on sliding formwork
0, U
0three parameters, thus make the Control platform of SM-ESC keep best, finally reach the object improving wind energy utilization, realize the maximal power point tracking of wind power system.。
The present invention solves its technical problem and takes following technological scheme to realize:
Based on an extremum search controling parameters self-adapting regulation method for sliding formwork, comprise step as follows:
(1) every sampling period Δ t, the real output p of t (current time) is gathered from generator output end
st (), obtains current wind speed from wind speed measuring device;
(2) optimum speed under current wind speed is derived;
(3) regulation coefficient γ is calculated;
(4) based on the parameter adjustment that the extremum search of sliding formwork controls, if | p
s(t)-p
wmax(t) | > ξ, ξ are little threshold value, then make Z
0=Z
0× γ, U
0=U
0× γ; Otherwise, keep Z
0, U
0constant, t=t+ Δ t also forwards to and 2. walks;
(5) p is worked as
s(t)=p
wmaxtime (t), based on the parameter Z in the extremum search control structure of sliding formwork
0, U
0for the optimal parameter of this control system, control system is by sliding formwork motion rapid adjustment generator speed ω
rto its optimum speed ω
ref;
(6) by wind-energy changing system, optimum speed ω is operated in
refwind turbines export peak output p under current wind speed
wmax, by parameter adjustment, final acquisition one group of optimal parameter, makes the power curve of output closest to best power curve.
And the concrete grammar of the optimum speed that described step (2) derives under current wind speed is: wind energy utilization C
pget maximum value 0.475, according to formula
calculate the peak output p under t wind speed v
wmaxt (), rotating speed corresponding to peak output is the optimum speed ω under current wind speed
ref.
And the formula that described step (3) calculating regulation coefficient γ adopts is: according to formula
calculate regulation coefficient γ.
Advantage of the present invention and good effect are:
The present invention controls to improve to the extremum search based on sliding formwork, add parameter adaptive adjusting module, be applied in double-fed variable-speed constant-frequency wind power generation system, can according to current wind speed environments adaptive control system parameter, make Control platform best, and then make the power curve of output more close to best curve; Maximal power point tracking effect can adjust rapidly after wind speed change rotating speed keeps tip speed ratio λ for its optimum value, makes power coefficient C
preturn to maximum value.
Accompanying drawing explanation
Fig. 1 controls the structured flowchart be applied in wind-powered electricity generation based on the extremum search of sliding formwork;
The control strategy block diagram of the double-fed generator rotor-side PWM that Fig. 2 controls based on the extremum search of sliding formwork;
Fig. 3 has parameter adaptive to adjust the wind-powered electricity generation optimal output curve comparison figure adjusting gained with printenv;
Fig. 4 increase parameter adaptive adjustment based on slip form extremum search control structure block diagram;
The Wind speed model that Fig. 5 uses when being compliance test result of the present invention;
Fig. 6 this patent method with do not carry out parameter adaptive and adjust SM-ESC, optimum tip-speed ratio method and based on the ESC method ω perturbed
rcontrast effect;
Fig. 7 this patent method with do not carry out parameter adaptive and adjust SM-ESC, optimum tip-speed ratio method and based on the ESC method p perturbed
scontrast effect figure.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described, it is emphasized that following mode of execution is illustrative, instead of determinate, can not in this embodiment as limitation of the invention.
Based on an extremum search controling parameters self-adapting regulation method for sliding formwork, this system comprises: the extremum search control system based on sliding formwork of containing parameter self-adaptative adjustment module, and this system exports a generator optimum speed reference value ω
refwind-energy changing system carrys out Maximum Power Output by following the tracks of this speed reference, export power feed back to again containing parameter self-adaptative adjustment module based in the extremum search control system of sliding formwork, such reponse system just can ensure that wind power system adjusts its rotating speed at any time thus makes the maximizes power of output.
Step is as follows:
(1) every sampling period Δ t, the real output p of t (current time) is gathered from generator output end
st (), obtains current wind speed from wind speed measuring device; Wind energy utilization C
pget maximum value 0.475, according to formula
calculate the peak output p under t wind speed v
wmaxt (), as shown in Figure 1, rotating speed corresponding to peak output is the optimum speed ω under current wind speed
ref;
(2) according to formula
Calculate regulation coefficient γ;
(3) as shown in Figure 2, the parameter adjustment module that the extremum search based on sliding formwork controls, if | p
s(t)-p
wmax(t) | > ξ, ξ are smaller threshold value, then make Z
0=Z
0× γ, U
0=U
0× γ; Otherwise, then Z is kept
0, U
0constant.T=t+ Δ t also forwards to and 2. walks;
(4) p is worked as
s(t)=p
wmaxtime (t), based on the parameter Z in the extremum search control structure of sliding formwork
0, U
0for the optimal parameter of this control system, control system is by sliding formwork motion rapid adjustment generator speed ω
rto its optimum speed ω
ref;
(5) by wind-energy changing system, optimum speed ω is operated in
refwind turbines export peak output p under current wind speed
wmax, as shown in Figure 3, by parameter adjustment, final acquisition one group of optimal parameter, makes the power curve of output closest to best power curve.
In order to verify the effect controlled at maximal power point tracking and machine torque based on the extremum search controlling method of sliding formwork after above-mentioned improvement, this patent has built the Controlling model of variable speed constant frequency Wind turbines on PSCAD/EMTDC emulation platform, the double feedback electric engine parameter adopted is as shown in table 1, and the parameter of wind wheel unit is as shown in table 2.
Table 1 double-fed asynchronous generator parameter
| Rated capacity | Voltage rating is 1 | Frequency |
| 5MVA | 10KV | 50HZ |
Table 2 wind wheel unit parameter
Initial parameters ρ, Z
0, U
0be respectively: 0.015,1.125,0.077; Δ t gets 0.1s.Be emulate the random wind speed curve that mean value used is 8m/s shown in Fig. 4, the endurance is 3000 seconds; Fig. 5 is tip speed ratio λ and power coefficient C
pchange curve.As can be seen from Figure 5, λ fluctuates near optimum value 7, C
pthen in maximum value 0.475 and fluctuate below, wave range is little, and can return to maximum value rapidly after reducing, and illustrates and can ensure that wind energy conversion system in most cases operates in λ after adopting this paper control strategy
optand C
pmaxnear, achieve maximal power point tracking object.
In order to the extremum search observed more intuitively based on sliding formwork controls to carry out the control effects of maximal power point tracking, this patent has built optimum tip-speed ratio method respectively and the model based on the minimum searching method of perturbation controls to compare with the extremum search sky based on sliding formwork, when wind speed increases to suddenly 10m/s by 9m/s, the rotor speed ω of three kinds of methods
rwith stator active power of output p
ssituation of change as accompanying drawing 6 and accompanying drawing 7, can find out that the extremum search based on sliding formwork controls than other two kinds of methods more close to best curve, therefore (input variable that the method uniquely needs is the active power that generator exports to adopt the minimum searching method after improving not only to have superiority on control principle, avoiding problems the challenge that many conventional methods exist, quick and precisely the measuring of such as wind speed, to the requirement of wind turbine model and parameter and need gradient sensor etc.), on control effects, also comparatively additive method is good.
In sum, patent of the present invention controls to improve to the extremum search based on sliding formwork, add parameter adaptive adjusting module, be applied in double-fed variable speed constant frequency Wind turbines, make the Control platform of SM-ESC keep best, finally reach the object improving wind energy utilization, realize the maximal power point tracking of wind power system.
Claims (2)
1., based on an extremum search controling parameters self-adapting regulation method for sliding formwork, it is characterized in that comprising step as follows:
(1) every sampling period Δ t, the real output p of current t is gathered from generator output end
st (), obtains current wind speed from wind speed measuring device;
(2) optimum speed under current wind speed is derived;
(3) regulation coefficient γ is calculated; The formula that calculating regulation coefficient γ adopts is: according to formula
calculate regulation coefficient γ;
(4) based on the parameter adjustment that the extremum search of sliding formwork controls, if | p
s(t)-p
wmax(t) | > ξ, ξ are little threshold value, then make Z
0=Z
0× γ, U
0=U
0× γ; Otherwise, keep Z
0, U
0constant, t=t+ Δ t also forwards (2) step to;
(5) p is worked as
s(t)=p
wmaxtime (t), based on the parameter Z in the extremum search control structure of sliding formwork
0, U
0for the optimal parameter of this control system, control system is by sliding formwork motion rapid adjustment generator speed ω
rto its optimum speed ω
ref;
(6) by wind-energy changing system, optimum speed ω is operated in
refwind turbines export peak output p under current wind speed
wmax, by parameter adjustment, final acquisition one group of optimal parameter, makes the power curve of output closest to best power curve.
2. the extremum search controling parameters self-adapting regulation method based on sliding formwork according to claim 1, is characterized in that: the concrete grammar of the optimum speed that described step (2) derives under current wind speed is: wind energy utilization C
pget maximum value 0.475, according to formula
calculate the peak output p under t wind speed v
wmaxt (), rotating speed corresponding to peak output is the optimum speed ω under current wind speed
ref.
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| CN104850166A (en) * | 2014-08-29 | 2015-08-19 | 国家电网公司 | Photovoltaic power generation maximum power tracking method adopting sliding mode layer extremum searching control |
| CN104410107B (en) * | 2014-11-27 | 2016-09-14 | 江苏科技大学 | A kind of passive integral sliding mode control method of double-fed wind power system |
| CN104460819B (en) * | 2014-12-23 | 2016-04-13 | 桂林电子科技大学 | A kind of maximum power point of photovoltaic array sliding mode tracking control method and system |
| CN106527567A (en) * | 2016-06-30 | 2017-03-22 | 国家电网公司 | Maximum power tracking method for photovoltaic power generation based on self-adaptive slip-form layer extremum searching |
| CN108979957B (en) * | 2018-07-16 | 2019-08-02 | 中南大学 | Obtain the non-linear predication control method of Variable Speed Wind Power Generator maximal wind-energy |
| US10890346B2 (en) * | 2018-08-21 | 2021-01-12 | Johnson Controls Technology Company | Extremum-seeking control system for on/off systems |
| CN109687788B (en) * | 2018-12-27 | 2020-12-01 | 浙江工业大学 | Control method of double-fed wind power generation system speed sensorless |
| CN109707565B (en) * | 2019-01-29 | 2021-04-27 | 中南大学 | Maximum wind energy capture control method by using inertia of large wind turbine |
| CN111431192A (en) * | 2020-03-24 | 2020-07-17 | 云南电网有限责任公司电力科学研究院 | Method, device and system for restraining low-frequency oscillation of power grid by using additional damping |
| CN115576209B (en) * | 2022-12-08 | 2023-03-31 | 南京理工大学紫金学院 | Unmanned aerial vehicle position tracking control method based on extremum search |
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