CN103758699A - Pitch angle control method and pitch angle controller of wind generating set - Google Patents
Pitch angle control method and pitch angle controller of wind generating set Download PDFInfo
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Abstract
The invention discloses a pitch angle control method and a pitch angle controller of a wind generating set. Aerodynamics analysis is carried out on dynamic properties of the wind generating set, a practical dynamical model is set up; according to the practical dynamical model, a reference model with ideal dynamic properties is generated, input of the reference model is the pitch angle and output of the reference model is the rotation speed of a generator; according to the reference model, state predicting is carried on the wind generating set, the pitch angle control law of the wind generating set is determined and the pitch angle control law is used for adjusting the pitch angle of the wind generating unit. Thus, when the practical generator revolution speed output by the wind generating set exceeds the rated generating set revolution speed, the practical generator revolution speed output by the wind generating set is adjusted to be the rated generator revolution speed. Therefore, when the wind speed changes, the generator revolution speed can be well maintained around the rated revolution speed, errors of mean square are small, parameters can be conveniently adjusted, the fluctuation of the revolution speed of the generator is little and control precision and reliability are high.
Description
Technical Field
The application relates to the technical field of wind generating set control, in particular to a pitch angle control method and a pitch angle controller of a wind generating set.
Background
Wind energy is a clean and safe renewable resource, wind power generation can guarantee energy safety, adjust energy structure and reduce environmental pollution, is one of the most mature, most extensive and development-promising power generation modes in the field of new energy, and has very important significance for realizing sustainable development. The wind generating set utilizing wind energy to generate power is a nonlinear time-varying large inertia system, meanwhile, strong disturbance wind speed is brought, the project current situation that measured values are inaccurate and unavailable exists, and uncertain factors brought by grid connection and outdoor operation are another difficult problem of wind power generation control. Therefore, the high-performance control technology of the wind generating set is a key technology for improving the wind power generation level, and has a decision function for improving the wind energy capture and grid-connected power generation reliability.
The rotating speed of the wind generating set is mainly acted by three moments: aerodynamic torque, power generation torque, and damping torque. The aerodynamic torque is a kinetic torque for maintaining the rotation of the wind driven generator. The operation power generation state of the variable-pitch variable-speed wind generating set can be roughly divided into two stages, namely maximum wind energy capture at a low wind speed stage and constant-power operation at a high wind speed stage. When the wind speed is higher than the rated wind speed, the main control target of the wind generating set is to keep the power stable, the high-quality power supply meets the grid-connected requirement, and the impact on a power grid is reduced. In this case, the power generation torque generally maintains a rated torque value, the power generation power is a product of the power generation torque and the rotation speed of the rotating shaft, and the rotation speed is required to maintain the rated value in order to achieve the target of power generation at the rated power, so that the damping torque is also substantially constant.
Wind power is not a constant and is an energy source with burstiness and uncertainty. If the pitch angle is not changed, when the wind speed is changed rapidly, the aerodynamic torque is changed correspondingly, so that the wind driven generator cannot maintain the rated rotating speed. Therefore, the pitch angle needs to be controlled to change the blade attack angle of the blade under the action of wind force, and the pneumatic torque has the effect opposite to the effect of wind speed change, so that the wind generating set is kept to operate at the rated rotating speed. The action of the pitch angle on the pneumatic torque is nonlinear, when the wind speed is close to the rated wind speed, the pitch angle is near 0 ℃, and at the moment, the sensitivity of the pneumatic torque on the pitch angle is very small; however, as the pitch angle increases, the sensitivity of the aerodynamic torque to changes in pitch angle increases.
In the prior art, a gain adjustment link is added in a traditional PI variable pitch controller, a method of applying different gains at different working points is adopted, and the adjustment gain of the pitch angle is smaller in a higher wind speed section, because the smaller pitch angle change can cause great pneumatic torque change.
However, the existing PI controller has a characteristic that the optimal PI value changes near different operating points for a nonlinear system. Meanwhile, the system parameters can be changed due to factors such as Reynolds number change caused by atmospheric change, change of seasons or environments, change of voltage or frequency of a power grid, aging of a mechanical structure and the like, and the PI controller cannot automatically update and optimize the PI coefficient for a system with time-varying parameters, such as a wind generating set. The method based on the linearization model of a certain working point can only ensure the control effect near the linearization working point, and is not suitable for wind power systems with wide working range, large random disturbance, many uncertain factors and serious nonlinearity. Therefore, the PI controller is not ideal in controlling the pitch angle, and has a disadvantage that the power fluctuation of the high wind speed section is large, and the performance is reduced after the system parameter is changed.
Disclosure of Invention
Aiming at the problems, the invention provides a pitch angle control method and a pitch angle controller of a wind generating set, which are suitable for a wind power system with a wider working range, large random disturbance, more uncertain factors and serious nonlinearity, so as to realize accurate control of the pitch angle, avoid the influence of power fluctuation of a high wind speed section and system parameter change on the pitch angle control and have strong reliability.
Based on the purpose, the technical scheme provided by the application is as follows:
the application provides a pitch angle control method of a wind generating set, which comprises the following steps:
carrying out aerodynamic analysis on the dynamic characteristics of the wind generating set, and establishing an actual dynamic model, wherein the actual dynamic model comprises uncertain wind speed and unknown parameters of the wind generating set;
generating a reference model with ideal dynamic characteristics according to the actual dynamic model, wherein the input of the reference model is a pitch angle, and the output of the reference model is a generator rotating speed;
and predicting the state of the wind generating set according to the reference model, and determining a pitch angle control law of the wind generating set, wherein the pitch angle control law is used for adjusting the pitch angle of the wind generating set so as to adjust the actual rotating speed of the generator output by the wind generating set to the rated rotating speed of the generator when the actual rotating speed of the generator output by the wind generating set deviates from the rated rotating speed of the generator.
Preferably, the aerodynamic analysis is performed on the wind generating set to establish an actual dynamic model, specifically:
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Wherein, JgIs generator inertia, JrIs the inertia of the rotor, omegarIs the rotor angular velocity, omegagTo generator angular velocity, KgFor external damping of the generator, KrFor external damping of the rotor, BgFor external stiffness of the generator, BrFor external stiffness of the rotor, TaFor aerodynamic torque, ThsFor high side torque, TlsIs the low speed sideTorque, TemFor the electromagnetic torque of the generator, ngIs the gear box transmission ratio;
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for tip speed ratio, beta is pitch angle, <math>
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</math> delta is an error term, Cp(lambda, beta) is the coefficient of wind energy utilization and
preferably, the generating a reference model with ideal dynamic characteristics according to the actual dynamic model specifically includes:
according to the actual dynamic model
Generating a reference model
Wherein b σ (t) is an error between the actual kinetic model and the reference model.
Preferably, the state prediction of the wind turbine generator set is performed according to the reference model, specifically:
according to a reference model
By using
And predicting the state of the wind generating set.
Preferably, the method further comprises the following steps:
constructing a pitch angle feedback control law of the wind generating set, and correcting the determined pitch angle feedback control law to obtain ideal input of an actual dynamic model; the pitch angle feedback control law includes a correctable parameter for eliminating a dynamic response error between the reference model and the actual dynamical model.
Preferably, the pitch angle feedback control law of the wind turbine generator system is constructed, and the determined pitch angle feedback control law is corrected to obtain an ideal input of an actual dynamic model, specifically:
ideal inputs for the actual kinetic model:
wherein-kgr is the input to the pitch angle control law.
Preferably, the method further comprises the following steps:
an adaptive mechanism is employed to adjust the correctable parameters.
Preferably, the adjusting the correctable parameter by using an adaptive mechanism specifically includes:
using adaptive mechanisms
Adjusting the correctable parameters; wherein, gamma isσ>0，P>0。
The present application further provides a pitch angle controller of a wind turbine generator system, including:
the actual model building module is used for carrying out aerodynamic analysis on the dynamic characteristics of the wind generating set and building an actual dynamic model, and the actual dynamic model comprises uncertain wind speed and unknown parameters of the wind generating set;
the reference model establishing module is used for generating a reference model with ideal dynamic characteristics according to the actual dynamic model, wherein the input of the reference model is a pitch angle, and the output of the reference model is a rotating speed of the generator;
and the pitch angle control module is used for predicting the state of the wind generating set according to the reference model and determining a pitch angle control law of the wind generating set, wherein the pitch angle control law is used for adjusting the pitch angle of the wind generating set so as to adjust the actual rotating speed of the generator output by the wind generating set to the rated rotating speed of the generator when the actual rotating speed of the generator output by the wind generating set deviates from the rated rotating speed of the generator.
Preferably, the method further comprises the following steps:
the correction module is used for constructing a pitch angle feedback control law of the wind generating set, correcting the determined pitch angle feedback control law and obtaining ideal input of an actual dynamic model; the pitch angle feedback control law comprises correctable parameters, and an adaptive mechanism is adopted to adjust the correctable parameters, wherein the correctable parameters are used for eliminating errors between the reference model and the actual dynamic model.
By applying the technical scheme, the pitch angle control method and the pitch angle controller of the wind generating set, provided by the application, are used for carrying out aerodynamic analysis on the dynamic characteristics of the wind generating set and establishing an actual dynamic model, wherein the actual dynamic model comprises uncertain wind speed and unknown parameters of the wind generating set; generating a reference model with ideal dynamic characteristics according to the actual dynamic model, wherein the input of the reference model is a pitch angle, and the output of the reference model is a generator rotating speed; and predicting the state of the wind generating set according to the reference model, and determining a pitch angle control law of the wind generating set, wherein the pitch angle control law is used for adjusting the pitch angle of the wind generating set so as to adjust the actual rotating speed of the generator output by the wind generating set to the rated rotating speed of the generator when the actual rotating speed of the generator output by the wind generating set deviates from the rated rotating speed of the generator. When the wind speed changes, the rotating speed of the generator can be well maintained near the rated rotating speed and changes in an extremely small range, and the mean square error is very small. The variable pitch controller has the characteristics of simple structure, convenient parameter adjustment and small fluctuation of the rotating speed of the generator, can meet the control target of the high wind speed section of most wind power generation systems, and has high control precision and strong reliability.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a pitch angle control method of a wind turbine generator system according to the present application;
FIG. 2 is a flow chart of another pitch angle control method of a wind turbine generator system provided by the present application;
FIG. 3 is a flow chart of a pitch angle control method of a wind turbine generator system according to the present application;
FIG. 4 is a schematic structural diagram of a pitch angle controller of a wind turbine generator set provided by the present application;
FIG. 5 is a schematic view of a pitch angle controller of another wind turbine provided herein;
fig. 6 is a control schematic diagram of a pitch angle controller of a wind turbine generator set provided by the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a pitch angle control method of a wind turbine generator system provided in the present application.
Referring to fig. 1, a pitch angle control method for a wind turbine generator system according to an embodiment of the present application includes:
step S100: carrying out aerodynamic analysis on the dynamic characteristics of the wind generating set, and establishing an actual dynamic model, wherein the actual dynamic model comprises uncertain wind speed and unknown parameters of the wind generating set;
in the embodiment of the present application, the actual kinetic model established according to the kinetic analysis can be represented by the following equation system:
wherein Jg: generator inertia (kilograms per meter)2），Jr: rotor inertia (kilograms per meter)2），
ωr: rotor angular velocity (rad/s), ωg: the generator angular velocity (rad/s),
Kg: external damping of generator (N.m/(rad.s)), Kr: rotor external damping (N.m/(rad.s)),
Bg: external stiffness of generator (N.m/(rad.s)), Br: the external stiffness of the rotor (N.m/(rad.s)),
Ta: aerodynamic torque (N m), Ths: a high-speed side torque (N.m),
Tls: low speed side torque (N.m), Tem: the electromagnetic torque (N.m) of the generator,
ng: gear box drive ratio
The following expression is further available:
wherein
Since the external stiffness is very small, it can be neglected (the combined inertia of the generator and the rotor is dominant), using a model of a single mass as follows to represent the drive mechanism:
wherein,v is the wind speed and is the wind speed,
for tip speed ratio, β is pitch angle and δ is error term. CpThe (lambda, beta) wind energy utilization coefficient is a complex nonlinear function whose approximate expression is:
in the embodiment of the application, the influence caused by the fast change of the wind speed, the nonlinearity and the large inertia of the wind generating set and the uncertainty of the system parameters is comprehensively considered, and the complex actual dynamic model of the large inertia of the wind generating set is obtained according to the aerodynamic equation of the wind generating set, wherein the actual dynamic model comprises the uncertain wind speed and the unknown parameters of the wind generating set.
Step S200: generating a reference model with ideal dynamic characteristics according to the actual dynamic model, wherein the input of the reference model is a pitch angle, and the output of the reference model is a generator rotating speed;
in the embodiment of the application, the reference model can be designed according to the zero pole position corresponding to the dynamic characteristic to a certain extent, but is limited by the physical requirement that the ideal state of the specified reference model should be reached by the controlled object, so that the reference model for obtaining the low-order linearity of the wind generating set can be simplified based on the actual dynamic model. Since the generator power is the product of the generating torque and the generator rotating speed, and the generating torque is a rated value when the wind speed is higher than the rated wind speed, the reference model is a characterization model of ideal dynamic characteristics of the actual model, wherein the input of the characterization model is the pitch angle and the output of the characterization model is the generator power (or the generator rotating speed).
Obtaining a reference model
Consider a real modelWherein b σ (t) characterizes the actual model and parametersTo account for the difference error between the models.
Step S300: and predicting the state of the wind generating set according to the reference model, and determining a pitch angle control law of the wind generating set, wherein the pitch angle control law is used for adjusting the pitch angle of the wind generating set so as to adjust the actual rotating speed of the generator output by the wind generating set to the rated rotating speed of the generator when the actual rotating speed of the generator output by the wind generating set deviates from the rated rotating speed of the generator.
In the embodiment of the application, during the design of an actual controller, a state predictor designed as follows is used for estimating a reference model:
on the one hand, when the actual generating power (or the actual generator speed) deviates from the rated power (or the rated generator speed) in a large range, the actual generating power (or the actual generator speed) can reach the rated power (or the rated generator speed) quickly and excessively in a low-overshoot mode by adjusting the blade pitch angle. On the other hand, the actual generated power (or the actual generator rotational speed) can be maintained around the rated power (or the rated generator rotational speed), allowing variation within a small range. With these two as targets, the pitch angle control law of the reference model is derived.
Since the reference model already characterizes a relatively ideal dynamic behavior, and the main objective here is to maintain power stability, the input to the reference model can be simply designed as-kgr。
By applying the technical scheme of the embodiment, the dynamic characteristics of the wind generating set are subjected to aerodynamic analysis, and an actual dynamic model is established, wherein the actual dynamic model comprises uncertain wind speed and unknown parameters of the wind generating set; generating a reference model with ideal dynamic characteristics according to the actual dynamic model, wherein the input of the reference model is a pitch angle, and the output of the reference model is a generator rotating speed; and predicting the state of the wind generating set according to the reference model, and determining a pitch angle control law of the wind generating set, wherein the pitch angle control law is used for adjusting the pitch angle of the wind generating set so as to adjust the actual rotating speed of the generator output by the wind generating set to the rated rotating speed of the generator when the actual rotating speed of the generator output by the wind generating set deviates from the rated rotating speed of the generator. When the wind speed changes, the rotating speed of the generator can be well maintained near the rated rotating speed and changes in a tiny range, the mean square error is small, the parameter adjustment is convenient, the fluctuation of the rotating speed of the generator is small, the control target of a majority of wind power generation systems in a high wind speed section can be met, the control precision is high, and the reliability is high.
FIG. 2 is a flow chart of another pitch angle control method of a wind turbine generator system provided by the present application.
Referring to fig. 2, another pitch angle control method for a wind turbine generator system according to an embodiment of the present application further includes, based on the foregoing embodiment:
step S400: constructing a pitch angle feedback control law of the wind generating set, and correcting the determined pitch angle feedback control law to obtain ideal input of an actual dynamic model; the pitch angle feedback control law includes a correctable parameter for eliminating a dynamic response error between the reference model and the actual dynamical model.
In the embodiment of the application, considering the disturbance caused by rapid change of wind speed, the influence caused by nonlinearity of the wind generating set and uncertainty of system parameters, a difference exists between an actual wind generating set and a reference model with low-order linearity. And further constructing the action of the variable parameters of the characterization system on the output by the correctable parameters in the controller, and adopting a self-adaptive mechanism to adjust the correctable parameters on line to inhibit the unstable performance caused by the change and disturbance of the parameters of the system.
The action of the variable parameters of the system on the output is further characterized by the correctable parameters in the controller, and the ideal input of the actual model is obtained:
wherein
-kgr is the input to the pitch angle control law.
The controller may also include a low-pass filtering element, which may be expressed in frequency domain as
It is used to eliminate high frequency component in the control quantity, reduce the regulation frequency of the regulator and prolong the service life of the regulator.
FIG. 3 is a flowchart of a pitch angle control method of a wind turbine generator system according to the present application.
Referring to fig. 3, a pitch angle control method for a wind turbine generator system according to an embodiment of the present invention is based on the above embodiment, and further includes:
step S500: an adaptive mechanism is employed to adjust the correctable parameters.
In the embodiment of the application, an adaptive mechanism is designed for the controller to adjust the correctable parameters on line, so that the performance instability caused by the change of system parameters is restrained. The generalized error comprises a state generalized error and an output generalized error, and a self-adaptive mechanism is designed to quickly and effectively adjust the correctable parameters on line on the basis of eliminating the generalized error of dynamic response between the actual controlled object and the reference model. The tracking convergence is realized, namely when the parameters of the controlled object are accurately estimated on line, the corresponding control law enables the output of the system to be consistent with the output of the systemThe outputs of the reference models are equal. Namely, it isAnd designing a self-adaptive mechanism to quickly and effectively adjust the correctable parameters on line.
The designed adaptive mechanism is as follows:
wherein, gamma isσ>0，
P>0。
By applying the technical scheme provided by the embodiment, the wind generating set is subjected to aerodynamic analysis, an actual dynamic model is established, the aim of maintaining stable power of a high wind speed section and realizing high-quality power supply is taken as an objective, a reference model is designed according to ideal requirements on the dynamic characteristics of a system, a pitch angle control law corresponding to the ideal output of the reference model obtained through derivation is used, a wind generating set pitch angle feedback control law with correctable parameters is further constructed, the correctable parameters are subjected to online adjustment by adopting an adaptive mechanism, and the dynamic response error between the actual output of the wind generating set and the ideal output of the reference model is eliminated. The pitch angle control method of the wind generating set provided by the application is formed by a state predictor, ideal input of an actual model and an adaptive mechanism, and tracking convergence of the actual controlled object to a reference model is realized, namely when parameters of the controlled object are accurately estimated on line, the output of a system is equal to the output of the reference model by a corresponding control law. Therefore, the pitch angle control method of the wind generating set can overcome the problem that the power fluctuation of the high wind speed section is large in the existing PI variable pitch control algorithm with gain adjustment, can ensure that the power of the high wind speed section is stable, high-quality power supply is beneficial to grid connection, different wind generating sets do not need to be designed repeatedly, self-adaptive adjustment can be achieved according to system parameter change, and the requirements of most variable pitch wind generating systems are met.
While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present invention is not limited by the illustrated ordering of acts, as some steps may occur in other orders or concurrently with other steps in accordance with the invention.
Fig. 4 is a schematic structural diagram of a pitch angle controller of a wind turbine generator set provided by the present application.
Referring to fig. 4, a pitch angle controller of a wind turbine generator system according to an embodiment of the present application includes:
the actual model building module 1 is used for carrying out aerodynamic analysis on the dynamic characteristics of the wind generating set and building an actual dynamic model, wherein the actual dynamic model comprises uncertain wind speed and unknown parameters of the wind generating set;
the reference model establishing module 2 is used for generating a reference model with ideal dynamic characteristics according to the actual dynamic model, wherein the input of the reference model is a pitch angle, and the output of the reference model is a generator rotating speed;
and the pitch angle control module 3 is used for predicting the state of the wind generating set according to the reference model, and determining a pitch angle control law of the wind generating set, wherein the pitch angle control law is used for adjusting the pitch angle of the wind generating set so as to adjust the actual rotating speed of the generator output by the wind generating set to the rated rotating speed of the generator when the actual rotating speed of the generator output by the wind generating set deviates from the rated rotating speed of the generator.
The pitch angle controller of the wind generating set provided in the embodiment of the present application may adopt the pitch angle control method of the wind generating set in the above method embodiment, and details are not described here.
By applying the technical scheme of the embodiment, the dynamic characteristics of the wind generating set are subjected to aerodynamic analysis, and an actual dynamic model is established, wherein the actual dynamic model comprises uncertain wind speed and unknown parameters of the wind generating set; generating a reference model with ideal dynamic characteristics according to the actual dynamic model, wherein the input of the reference model is a pitch angle, and the output of the reference model is a generator rotating speed; and predicting the state of the wind generating set according to the reference model, and determining a pitch angle control law of the wind generating set, wherein the pitch angle control law is used for adjusting the pitch angle of the wind generating set so as to adjust the actual rotating speed of the generator output by the wind generating set to the rated rotating speed of the generator when the actual rotating speed of the generator output by the wind generating set deviates from the rated rotating speed of the generator. When the wind speed changes, the rotating speed of the generator can be well maintained near the rated rotating speed and changes in a tiny range, the mean square error is small, the parameter adjustment is convenient, the fluctuation of the rotating speed of the generator is small, the control target of a majority of wind power generation systems in a high wind speed section can be met, the control precision is high, and the reliability is high.
Fig. 5 is a schematic structural diagram of a pitch angle controller of another wind generating set provided by the application.
Referring to fig. 5, in the embodiment of the present application, the pitch angle controller of the wind turbine generator system may further include, on the basis of the above embodiment: the correction module 4 is used for constructing a pitch angle feedback control law of the wind generating set, correcting the determined pitch angle feedback control law and obtaining ideal input of an actual dynamic model; the pitch angle feedback control law comprises correctable parameters, and an adaptive mechanism is adopted to adjust the correctable parameters, wherein the correctable parameters are used for eliminating errors between the reference model and the actual dynamic model.
The pitch angle controller of the wind generating set provided in the embodiment of the present application may adopt the pitch angle control method of the wind generating set in the foregoing method embodiment, and details are not described here.
By applying the technical scheme provided by the embodiment, the wind generating set is subjected to aerodynamic analysis, an actual dynamic model is established, the aim of maintaining stable power of a high wind speed section and realizing high-quality power supply is taken as an objective, a reference model is designed according to ideal requirements on the dynamic characteristics of a system, a pitch angle control law corresponding to the ideal output of the reference model obtained through derivation is used, a wind generating set pitch angle feedback control law with correctable parameters is further constructed, the correctable parameters are subjected to online adjustment by adopting an adaptive mechanism, and the dynamic response error between the actual output of the wind generating set and the ideal output of the reference model is eliminated. The pitch angle control method of the wind generating set provided by the application is formed by a state predictor, ideal input of an actual model and an adaptive mechanism, and tracking convergence of the actual controlled object to a reference model is realized, namely when parameters of the controlled object are accurately estimated on line, the output of a system is equal to the output of the reference model by a corresponding control law. Therefore, the pitch angle control method of the wind generating set can overcome the problem that the power fluctuation of the high wind speed section is large in the existing PI variable pitch control algorithm with gain adjustment, can ensure that the power of the high wind speed section is stable, high-quality power supply is beneficial to grid connection, different wind generating sets do not need to be designed repeatedly, self-adaptive adjustment can be achieved according to system parameter change, and the requirements of most variable pitch wind generating systems are met.
Fig. 6 is a control schematic diagram of a pitch angle controller of a wind turbine generator set provided by the present application.
Referring to fig. 6, a pitch angle control method and a controller of a wind turbine generator set provided by the present application will be specifically described below by taking a large wind turbine generator set with a power rating of 1.5MW produced by a wind power generation company, inc:
the basic parameters of the wind turbine generator set are listed as follows:
| basic parameters of wind generating set | Numerical range |
| Rated power | 1500KW |
| Power factor | -0.95～+0.95 |
| Cut-in wind speed | 3m/s |
| Rated wind speed | 11m/s |
| Cut-out wind speed | 25m/s |
| Diameter of wind wheel | 77m |
| Swept area | 4654m2 |
| Number of |
3 |
| Gear box drive ratio | 104.494 |
| High speed shaft inertia | 12Kg·m |
| Inertia of generator | 123Kg·m |
| Type of generator | Wound double-fed asynchronous generator |
| Rated power | 1500KW |
| Rated electricityPress and press | 690V |
| Frequency of the grid | 50Hz60Hz |
| Rated speed of rotation | 1800rpm≈188.4rad/s |
The approximate operation working area of the wind generating set can be divided into two sections, wherein the low wind speed section is the maximum wind energy capture working area, and the optimal tip speed ratio is maintained to achieve the aim of improving the wind energy utilization rate mainly by controlling the generating torque; the pitch angle control method and the pitch angle controller mainly aim at constant power control of a high wind speed section, namely stable power generation power is maintained, high-quality power generation is beneficial to grid connection, and impact on a power grid is reduced.
Firstly, an actual dynamic model is established for the wind generating set, in a specific embodiment, the wind generating set adopts a three-blade horizontal axis windward variable speed wind generating set with the rated power of 1.5MW, and the rotational inertia J of a wind wheelr=4456761㎏·m2External damping K of wind wheelr=45.52N · m/(rad · s), generator moment of inertia Jg=123㎏·m2External damping of the generator Kg=0.4N·m/(rad·s)，JtAnd KtPush button And and (4) calculating.
Actual dynamics model
Approximations for most of the parameters in (a) are available. This provides a basis for the design of the reference model in the present application.
The application provides a wind generating set's pitch angle controller mainly includes the triplex structure: state predictor, adaptive mechanism and actual controller output. The state predictor is constructed based on a reference model and is used for calculating ideal output of the reference model; the adaptive mechanism adjusts the correctable parameters on line and strives for the consistency of the dynamic response of the actual model and the reference model; the output of the actual controller is a controller output including a correctable parameter, and is an actual control amount of the controlled object.
The reference model is designed according to the position of the zero pole corresponding to the dynamic characteristic to a certain extent, but is limited by the physical requirement that the ideal state of the specified reference model should be reached by the controlled object. And the reference model of the low-order linearity of the wind generating set can be obtained in a simplified mode based on the actual model.
According to a practical model, the application arranges a pole at-0.52 and the rotating speed
The steady-state gain with respect to the reference nominal speed value r is 1, where a preferred first-order linear reference model is provided:
wherein A ism=-0.52，b=400，βipart(t)=-kgr，r=188.4rad/s。
Next, the state predictor composed of the reference model is designed to:
The self-adaptive mechanism outputs the actual model generator rotating speed to omegarAnd the output of the reference model
Compared with the prior art, the method can inhibit the performance instability caused by the change and disturbance of system parameters, so that the method can ensure that the performance is unstable
Maintained near 0.
When simulation verification is carried out under the Bladed wind power generation simulation software, the sampling period and the control period are both 0.04 s. The learning rate of the correctable parameters is debugged, so that when the simulation effect is ideal, a more appropriate value of the parameters in the following self-adaptive adjustment rate can be obtained.
Wherein, gamma isσPb=0.12， 
And may be selected to be in the range of 2.14,
alternatively 5.38.
Preferably, the actual control method and controller adds a low-pass filter element to suppress the output high-frequency noise. The low-pass filter can be expressed in frequency domain as
Decreasing k may enhance the effect of the low pass filtering. The actual controller is as follows:
in an ideal simulation case, k = 2.4.
The rotating speed of the wind generating set is mainly influenced by three moments, namely pneumatic torque TaAnd a power generation torque TgAnd damping moment Ktωr. At high wind speed section, generating torque TgAnd damping torque KtωrSubstantially maintained at a constant value, whereas the aerodynamic torque is mainly related to two quantities, the wind speed v and the pitch angle β. When the wind speed v changes rapidly, it results in a pneumatic torque TaThe corresponding change occurs, so that the wind power generator cannot maintain the rated rotating speed. For generator rotation speed omegarMeasuring the rated rotation speed omegarrefWith generator speed omegarThe deviation e is fed into the control provided in the embodiment of the present applicationA controller for calculating the ideal pitch angle beta*By controlling pitch angle beta versus aerodynamic torque TaThe effect opposite to the effect of changing the wind speed v is achieved, the deviation e is 0, and the wind generating set is enabled to be maintained to operate at the rated rotating speed.
The model of the pitch actuator system is a non-linear element with dead zones. The adjustable range of the pitch angle and the range of the pitch rate of the wind turbine generator system are both limited. When the pitch angle and the pitch rate are within the saturation limits, the pitch actuator system behaves linearly. The model of the execution system is approximated as a first order system
Because the change range of the pitch angle is 0-90 degrees, an amplitude limiting link needs to be added to the actual controller output, and the limitation is 0-1.57 rad. Meanwhile, with the wind power generator in the present embodiment, the rate of change of the pitch angle is limited to within ± 10 °/s.
The technical scheme of this application has carried out the verification repeatedly at this large-scale aerogenerator of money rated power 1.5MW, and the result proves to compare with the generator speed and the power of the PI controller of taking gain adjustment, and this scheme can guarantee that generator speed and power are steady better, is favorable to being incorporated into the power networks, reduces the impact effect to the electric wire netting.
According to the technical scheme, under the condition that an accurate model of the wind generating set is unknown and the wind speed serving as interference is not measurable, an ideal requirement of a linear low-order reference model representation on the dynamic characteristic of the system is provided. The reference model is proposed with the limitation that the desired behavior of the defined reference model should be achievable by the adaptive control system. And then designing a control quantity corresponding to ideal output for the reference model, and controlling the actual dynamic model by adopting a feedback control law with correctable parameters, wherein the correction parameters are adjusted on line based on an adaptive mechanism capable of eliminating dynamic response errors between the actual model and the reference model. Because, the reference model is different from the actual characteristics of the controlled object, the wind generating set. Through comparison of the output of the actual model and the output of the reference model, the system can be ensured to be stable and achieve tracking convergence when parameters change and disturbance exists according to online learning of the self-adaptive adjusting method. And moreover, the low-pass filter is adopted to effectively inhibit high-frequency noise in the pitch angle control quantity, the reaction frequency of the regulator is reduced, the service life of the regulator is prolonged, and the pitch angle can be ensured to be stably changed. Under the condition that the reference model is reasonably selected, when the wind speed changes, the rotating speed of the generator can be well maintained near the rated rotating speed and changes in a very small range, the mean square error is very small, the pitch angle controller applying the scheme of the application has the advantages of simple structure, convenience in parameter adjustment and small fluctuation of the rotating speed of the generator, and can meet the control target of most wind power generation systems in a high wind speed section.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The pitch angle control method and the pitch angle controller of the wind generating set provided by the invention are described in detail, specific examples are applied in the text to explain the principle and the implementation mode of the invention, and the description of the above embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A pitch angle control method of a wind turbine generator system, comprising:
carrying out aerodynamic analysis on the dynamic characteristics of the wind generating set, and establishing an actual dynamic model, wherein the actual dynamic model comprises uncertain wind speed and unknown parameters of the wind generating set;
generating a reference model with ideal dynamic characteristics according to the actual dynamic model, wherein the input of the reference model is a pitch angle, and the output of the reference model is a generator rotating speed;
and predicting the state of the wind generating set according to the reference model, and determining a pitch angle control law of the wind generating set, wherein the pitch angle control law is used for adjusting the pitch angle of the wind generating set so as to adjust the actual rotating speed of the generator output by the wind generating set to the rated rotating speed of the generator when the actual rotating speed of the generator output by the wind generating set deviates from the rated rotating speed of the generator.
2. A pitch angle control method according to claim 1, wherein said aerodynamic analysis of the wind turbine generator set, establishing an actual dynamic model, in particular:
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Wherein, JgIs generator inertia, JrIs the inertia of the rotor, omegarIs the rotor angular velocity, omegagTo generator angular velocity, KgFor external damping of the generator, KrFor external damping of the rotor, BgFor external stiffness of the generator, BrFor external stiffness of the rotor, TaFor aerodynamic torque, ThsFor high side torque, TlsLow speed side torque, TemFor the electromagnetic torque of the generator, ngIs the gear box transmission ratio;
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wherein,
v is the wind speed and is the wind speed,
for tip speed ratio, beta is pitch angle,
3. a pitch angle control method according to claim 2, characterized in that said generating a reference model with ideal dynamic characteristics from said actual dynamic model, in particular:
according to the actual dynamic model
Generating a reference model
Wherein b σ (t) is an error between the actual kinetic model and the reference model.
4. A pitch angle control method according to claim 2, wherein said predicting a state of said wind park according to said reference model, in particular:
according to a reference modelBy using
And predicting the state of the wind generating set.
5. A pitch angle control method according to claim 2, further comprising:
constructing a pitch angle feedback control law of the wind generating set, and correcting the determined pitch angle feedback control law to obtain ideal input of an actual dynamic model; the pitch angle feedback control law includes a correctable parameter for eliminating a dynamic response error between the reference model and the actual dynamical model.
6. A pitch angle control method according to claim 5, wherein said constructing a pitch angle feedback control law for said wind park, modifying said determined pitch angle control law to obtain an ideal input for an actual dynamic model, in particular:
ideal inputs for the actual kinetic model:
wherein
-kgr is the input to the pitch angle control law.
7. A pitch angle control method according to claim 5, further comprising:
an adaptive mechanism is employed to adjust the correctable parameters.
8. A pitch angle control method according to claim 5, characterized in that said adjustable parameters are adjusted using an adaptive mechanism, in particular:
using adaptive mechanismsAdjusting the correctable parameters; wherein, gamma isσ>0，
P>0。
9. A pitch angle controller for a wind turbine generator set, comprising:
the actual model building module is used for carrying out aerodynamic analysis on the dynamic characteristics of the wind generating set and building an actual dynamic model, and the actual dynamic model comprises uncertain wind speed and unknown parameters of the wind generating set;
the reference model establishing module is used for generating a reference model with ideal dynamic characteristics according to the actual dynamic model, wherein the input of the reference model is a pitch angle, and the output of the reference model is a rotating speed of the generator;
and the pitch angle control module is used for predicting the state of the wind generating set according to the reference model and determining a pitch angle control law of the wind generating set, wherein the pitch angle control law is used for adjusting the pitch angle of the wind generating set so as to adjust the actual rotating speed of the generator output by the wind generating set to the rated rotating speed of the generator when the actual rotating speed of the generator output by the wind generating set deviates from the rated rotating speed of the generator.
10. The pitch angle controller of claim 9, further comprising:
the correction module is used for constructing a pitch angle feedback control law of the wind generating set, correcting the determined pitch angle feedback control law and obtaining ideal input of an actual dynamic model; the pitch angle feedback control law comprises correctable parameters, and an adaptive mechanism is adopted to adjust the correctable parameters, wherein the correctable parameters are used for eliminating errors between the reference model and the actual dynamic model.
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| CN113833606B (en) * | 2021-09-29 | 2023-09-26 | 上海电气风电集团股份有限公司 | Damping control method, system and readable storage medium |
| CN115145211A (en) * | 2022-09-06 | 2022-10-04 | 上海桁壹高科技有限公司 | Control method, system, medium and electronic device of non-switching value device |
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