CN103912447A - Attach angle weight coefficient based independent variable pitch control system controlled by fuzzy PID (proportional integral derivative) - Google Patents

Attach angle weight coefficient based independent variable pitch control system controlled by fuzzy PID (proportional integral derivative) Download PDF

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Publication number
CN103912447A
CN103912447A CN201410136613.8A CN201410136613A CN103912447A CN 103912447 A CN103912447 A CN 103912447A CN 201410136613 A CN201410136613 A CN 201410136613A CN 103912447 A CN103912447 A CN 103912447A
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China
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control
weight coefficient
pid
angle
fuzzy
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CN201410136613.8A
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Inventor
王晖
高桂革
曾宪文
袁靖
肖浩
尹万杰
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Shanghai Dianji University
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Shanghai Dianji University
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Priority to CN201410136613.8A priority Critical patent/CN103912447A/en
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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/70Wind energy
    • Y02E10/72Wind turbines with rotation axis in wind direction

Abstract

The invention discloses an attack angle weight coefficient based independent variable pitch control system controlled by fuzzy PID (proportional integral derivative). The attack angle weight coefficient based independent variable pitch control system controlled by fuzzy PID comprises a summator, a fuzzy control module, an attack angle weight coefficient compositing module, a PID control module and an independent variable pitch module, wherein the summator is used for generating a deviation signal; the fuzzy control module is used for acquiring three original parameters of PID controllers by utilizing the deviation signal and a deviation variation rate; the attack angle weight coefficient compositing module is used for compositing an attack angle weight coefficient with the original parameters and outputting control parameters of the PID controllers; the PID control module comprises three independent PID controllers, and each PID controller generates a control signal according to the deviation signal, the control parameters and feedback of an encoder; the independent variable pitch module is used for receiving the control signals of the PID controllers, analyzing and computing the control signals, outputting an instruction signal to a driver and regulating a motor by the encoder, and a controlled article is independently connected with the independent variable pitch module. The attack angle weight coefficient based independent variable pitch control system controlled by fuzzy PID has the advantages that controlling precision and responding time of the variable pitch control system on a rated wind speed can be improved, conditions of blades which are stressed to flap and vibrate are improved, and output power is more stable.

Description

The independent pitch of the fuzzy control based on angle of attack weight coefficient is apart from control system
Technical field
The present invention relates to control system of wind turbines field, particularly relate to a kind of wind-powered electricity generation independent pitch of fuzzy (Proportional Integral Derivative, the proportional-integral-differential) control based on angle of attack weight coefficient apart from control system.
Background technique
Load to extend service life of fan in order to reduce wind wheel, suppress wind power generating set output-power fluctuation and reduce the adverse effect to electrical network, big-and-middle-sized wind-powered electricity generation unit adopts feather control conventionally more than rated wind speed, by changing fan blade propeller pitch angle, change power coefficient, make unit output power keep stable.At present, wind power generating set adopts PID controller to control pitch-variable system mostly, but in order to make controller overshoot less, speed of response is faster, sensitivity is higher, and system is more stable, makes the electric energy of wind-powered electricity generation unit output more stable, simple PID controls the requirement that can not meet wind-powered electricity generation, and this just need to more reasonably optimize variable-pitch control system.
Summary of the invention
The deficiency existing for overcoming above-mentioned prior art, one of the present invention object is to provide a kind of independent pitch of the fuzzy control based on angle of attack weight coefficient apart from control system, on the basis of traditional PID feather control, add fuzzy controller, in real time the pid parameter obtaining is proofreaied and correct based on fuzzy theory principle, made system become Self-tuning fuzzy PID controller.
Another object of the present invention is to provide a kind of independent pitch of the fuzzy control based on angle of attack weight coefficient apart from control system, has adopted motor-driven independent pitch mode, has avoided patting in the control of unified change oar the shortcoming of vibrations.
The present invention's a object is again to provide a kind of independent pitch of the fuzzy control based on angle of attack weight coefficient apart from control system, by having added the weight coefficient based on the angle of attack, make output power more stable, further improved the stressing conditions of blade, make power reach optimal control.
For reaching above-mentioned and other object, the present invention proposes a kind of independent pitch of the fuzzy control based on angle of attack weight coefficient apart from control system, comprises
Adder, utilizes the output of input designated value and controlled device to generate deviation signal;
Fuzzy control model, utilizes the deviation variation rate of described deviation signal and described deviation signal to obtain three initial parameters of PID controller;
Angle of attack weight coefficient synthesis module, synthesizes angle of attack weight coefficient and described three initial parameters, controls parameters for three of output PID controller;
Pid control module, comprises 3 PID controllers, and each PID controller utilizes described deviation signal, described control parameter and independent pitch to generate control signal apart from the feedback of the encoder of module and exports independent pitch to apart from module;
The independent slurry that becomes, apart from module, receives the control signal of each PID controller, and after it is calculated by analysis, sends command signal, and utilize three encoders to regulate respectively three actuating motors to three motor drivers of the propeller pitch angle of adjusting vane;
Controlled device, comprises wind wheel and generator set, and it connects the described independent slurry that becomes apart from module.
Further, described independent pitch comprises three controllers, three motor drivers, three encoders, three speed reducers and three actuating motors apart from module, each controller is accepted respectively the control signal from PID controller, calculate by analysis, three motor drivers to the propeller pitch angle of adjusting vane send command signal, regulate three actuating motors by encoder respectively, control the variation of propeller pitch angle, realize the control to propeller pitch angle.
Further, described deviation signal and described deviation variation rate can at any time be adjusted to pid parameter certainly, and application fuzzy theory principle is proofreaied and correct the pid parameter obtaining in real time.
Further, three initial parameter K of described deviation signal e, deviation variation rate ec and described PID controller p, K i, K dmeet following control law: (1) if | e| is larger, and no matter how e becomes, K pvalue all should get maximum, K iget minimum value, K dalso should get minimum value; (2) if | e| is medium, K pshould get minimum value, K iand K dit is suitable to get; (3) if | e| hour, K pand K iget higher value.
Further, the wind-force effect size that described angle of attack weight coefficient is received according to each blade is distributed.
Further, described input designated value is rated power.
Compared with prior art, the independent pitch of a kind of fuzzy control based on angle of attack weight coefficient of the present invention adds fuzzy controller apart from control system on the basis of traditional PID feather control, and in real time the pid parameter obtaining is proofreaied and correct based on fuzzy theory principle, make system become Self-tuning fuzzy PID controller, improved control accuracy and the response time of variable-pitch control system on rated wind speed; Meanwhile, the present invention pats this shortcoming of vibrations for fear of unified change in oar control, has adopted motor-driven independent pitch mode, can effectively improve the situation of the stressed beating vibrations of wind power generating set blade; In addition, the present invention, on the basis of self-tuning PID control, in order further to improve the stressing conditions of blade, makes power reach optimal control, has added again the weight coefficient based on the angle of attack, makes output power more stable.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of traditional PID control system;
Fig. 2 is the control principle drawing of the present invention's the fuzzy of certainly adjusting;
Fig. 3 Δ K pcorresponding fuzzy relation graph;
Fig. 4 Δ K icorresponding fuzzy relation graph;
Fig. 5 Δ K dcorresponding fuzzy relation graph;
Fig. 6 is that the independent pitch of a kind of fuzzy control based on angle of attack weight coefficient of the present invention is apart from the system construction drawing of control system;
Fig. 7 is the independent structural representation of slurry apart from module that become in preferred embodiment of the present invention.
Embodiment
Below, by specific instantiation accompanying drawings embodiments of the present invention, those skilled in the art can understand other advantage of the present invention and effect easily by content disclosed in the present specification.The present invention also can be implemented or be applied by other different instantiation, and the every details in this specification also can be based on different viewpoints and application, carries out various modifications and change not deviating under spirit of the present invention.
Fig. 1 is the schematic diagram of traditional PID control system, conventional PID controller is a kind of controller of linearity, control according to the control deviation of given input quantity and actual output quantity formation, before thereof using PID control, must adjust pid parameter according to controlled device, but in wind-powered electricity generation, controlled device can not be by Accurate Prediction, traditional PID controls and can not reach the requirement that expection is controlled, so the present invention has added fuzzy control, make fuzzy control together with PID control combination, form a kind of fuzzy control mode.
Fig. 2 is the control principle drawing of the present invention's the fuzzy of certainly adjusting.Shown fuzzy controller is a two-dimentional fuzzy controller, with deviation e(e (t)=r (t)-y (t)) and change of error as input variable, deviation e and deviation variation rate ec can at any time adjust to pid parameter certainly, and application fuzzy theory principle is proofreaied and correct the pid parameter obtaining in real time, makes this fuzzy controller become Self-tuning fuzzy PID controller.
In the present invention, using the deviation e of propeller pitch angle and deviation variation rate ec as input variable, when starting obfuscation, convert original input quantity accurately to fuzzy quantity, use the fuzzy set corresponding with it to represent.Be that variable E represents e and ec with fuzzy language, suppose E to be divided into seven grades, at this moment the fuzzy set of e and ec is expressed as: and negative large, in bearing, negative little, zero, just little, center, honest={ NB, NM, NS, ZO, PS, PM, PB }.But, the function participating in this process has different excursions, therefore need to change for its domain, wherein all functions are planned in specific fuzzy set, what wherein basic domain represented is the scope of actual change parameter, for basic domain is successfully converted into fuzzy set, generally complete according to quantizing factor.
In the present invention, fuzzy controller is the mode that two inputs three are exported, and wherein deviation e and change of error amount ec are inputs, three parameter K of PID p, K i, K dbe output, the fuzzy relation existing between these five parameters is very important, in the time that system is moved, just can constantly detect e and ec, has more the principle of fuzzy control, in real time to K p, K i, K dproofread and correct, make controlled device under any condition, can make dynamic characteristic and static properties reach perfect.Different deviation e and change of error ec, K p, K i, K dall to meet following control law from setting parameter: (1) if | e| is larger, and no matter how e becomes, K pvalue all should get maximum, system can be responded rapidly; Overshoot to be controlled well, K iget minimum value; K dalso should get minimum value, prevent because | the variation of ec| and make system moment excessive; (2) if | e| is medium, wants to reduce overshoot, and can not have influence on the speed of response of system, K pshould get minimum value, K iand K dit is suitable to get, K dvalue careful especially, it is determining time and the speed of system responses; (3) if | e| hour, only has K pand K iremove higher value, the stability of system just can be guaranteed, meanwhile, and for K dvalue suitable, be with | ec| is closely connected.According to above rule, Fig. 3, Fig. 4, Fig. 5 have listed respectively three parameter Δ K p, Δ K i, Δ K dcorresponding fuzzy relation.According to these relations, just can be to K p, K i, K dthree parameters are carried out real-time adjustment.
Fig. 6 is that the independent pitch of a kind of fuzzy control based on angle of attack weight coefficient of the present invention is apart from the system construction drawing of control system.As shown in Figure 6, the independent pitch of a kind of fuzzy control based on angle of attack weight coefficient of the present invention, apart from control system, comprising: fuzzy control model 10, angle of attack weight coefficient synthesis module 20, pid control module 30, independent pitch are apart from module 40, adder 50 and controlled device 60.
Adder 50 utilizes input designated value (being rated power) and the output (being wind-driven generator output) of controlled device 60 to generate deviation signal Δ e herein herein; Fuzzy control model 10 utilizes the deviation variation rate of deviation signal Δ e and deviation signal to obtain three initial parameter K of PID controller p', K i', K d'; These three initial parameters are sent into angle of attack weight coefficient synthesis module 20 angle of attack weight coefficient and this three initial parameters are synthesized, and control parameter K for three of output PID controller p, K i, K d; Pid control module 30 comprises 3 PID controllers, and it utilizes deviation signal Δ e, controls parameter K p, K i, K dand independent pitch apart from the feedback of the encoder 403 of module 40 generate control signal to independent pitch apart from module 40.
Fig. 7 is the independent structural representation of slurry apart from module that become in preferred embodiment of the present invention.Feather control device has motor to drive and two kinds of modes of hydraulic vane change, in preferred embodiment of the present invention, adopts motor to drive feather, because this feather mode is simple in structure, easily applies various control, and reliability is higher, and cost is also lower.Independent pitch comprises controller 401, motor driver 402, encoder 403, speed reducer 404 and actuating motor Mi apart from module 40, controller 401 (comprising controller 1/2/3) is accepted the control signal from PID controller (PID controller 1/2/3), calculate by analysis, three motor drivers (driver 1/2/3) to the propeller pitch angle of adjusting vane send command signal, regulate actuating motor (M1/M2/M3) by encoder (encoder 1/2/3), control the variation of propeller pitch angle, realize the control to propeller pitch angle; Wind wheel and generator composition controlled device 60(speed reducer 404 and actuating motor Mi are the actuator of corresponding diagram 2).
Independent pitch can make the blade of wind wheel change with the variation of wind speed apart from type wind-driven generator, when wind speed is during higher than rated wind speed, the direction that blade reduces to wind-exposuring area is rotated an angle; When wind speed is during lower than rated wind speed, blade rotates towards the larger direction of wind-exposuring area, thereby the angle of attack obtaining is also changing.The angle of attack is one of key affecting blade aeroperformance, it is respectively lift and resistance that Aerodynamic force action produces two kinds of power on fan blade, because the variation of the angle of attack can affect the pneumatic property of wind-driven generator, that is to say and select a suitable angle of attack, the lift of the blade of wind wheel and resistance just can reach optimum value, the stressing conditions of blade also just improves like this, and the damage of wind energy conversion system is reduced.The variation of the angle of attack determines blade lift and the size of resistance coefficient and the startability of wind-driven generator, affect the rotating speed of blade, thereby affect the output of power, so, the present invention at existing self-regulating fuzzy independent pitch on the basis of control procedure, improve the stressing conditions of blade in conjunction with the change situation of the angle of attack, can make power reach optimal control.
Below further illustrate determining of angle of attack weight coefficient in the present invention: in conjunction with the change situation of the angle of attack, just introduce the weight coefficient of the angle of attack, this weight coefficient is that the wind-force effect size being subject to according to each blade is distributed, wind-engaging is larger, weight coefficient is just larger, and the value that the propeller pitch angle of blade changes also just greatly.In the plane of blade, in the time of 0 ° of propeller pitch angle, suffered wind is maximum, the now forward adjustment amount maximum at blade pitch angle, and weight coefficient is also maximum; In the time that propeller pitch angle is 90 °,, suffered wind minimum, now blade pitch angle negative sense adjustment amount maximum, weight coefficient is also minimum.Adopt the control mode of the self-regulating fuzzy of angle of attack Weighting factor by the present invention, can more effectively reduce the axial aerodynamic force that blade bears.
In sum, the wind-powered electricity generation independent pitch of a kind of fuzzy control of the present invention adds fuzzy controller apart from control system on the basis of traditional PID feather control, and in real time the pid parameter obtaining is proofreaied and correct based on fuzzy theory principle, make system become Self-tuning fuzzy PID controller, improved control accuracy and the response time of variable-pitch control system on rated wind speed; Meanwhile, the present invention pats this shortcoming of vibrations for fear of unified change in oar control, has adopted motor-driven independent pitch mode, can effectively improve the situation of the stressed beating vibrations of wind power generating set blade; In addition, the present invention, on the basis of self-tuning PID control, in order further to improve the stressing conditions of blade, makes power reach optimal control, has added again the weight coefficient based on the angle of attack, makes output power more stable.
Tool of the present invention has the following advantages:
1, the present invention adopts Self-tuning fuzzy PID controller, it is the perfect adaptation of a kind of fuzzy control theory and traditional PID control theory, it makes pid control parameter have self adaption, the ability of adjusting certainly, track rapidly sent instruction, make the overshoot can be less, speed of response is accelerated, and sensitivity improves, and makes to control to reach better effect;
2, the present invention adopts independent pitch apart from control, and compared with unified feather control, the propeller pitch angle of each blade can change separately according to stressed difference, thereby reduces the beating vibrations of blade, Simultaneous Stabilization output power;
3, the present invention adopts the weight coefficient pitch control based on the angle of attack, because the variation of the angle of attack determines blade lift and the size of resistance coefficient and the aeroperformance of wind-driven generator, affect the rotating speed of blade, thereby affect the output of power, so independent pitch, apart from the stressing conditions that improves blade in control procedure in conjunction with the change situation of the angle of attack, makes power reach optimal control.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any those skilled in the art all can, under spirit of the present invention and category, modify and change above-described embodiment.Therefore, the scope of the present invention, should be as listed in claims.

Claims (6)

1. the independent pitch of the fuzzy control based on angle of attack weight coefficient, apart from a control system, comprises
Adder, utilizes the output of input designated value and controlled device to generate deviation signal;
Fuzzy control model, utilizes the deviation variation rate of described deviation signal and described deviation signal to obtain three initial parameters of PID controller;
Angle of attack weight coefficient synthesis module, synthesizes angle of attack weight coefficient and described three initial parameters, controls parameters for three of output PID controller;
Pid control module, comprises 3 PID controllers, and each PID controller utilizes described deviation signal, described control parameter and independent pitch to generate control signal apart from the feedback of the encoder of module and exports independent pitch to apart from module;
The independent slurry that becomes, apart from module, receives the control signal of each PID controller, and after it is calculated by analysis, sends command signal, and utilize three encoders to regulate respectively three actuating motors to three motor drivers of the propeller pitch angle of adjusting vane;
Controlled device, comprises wind wheel and generator set, and it connects the described independent slurry that becomes apart from module.
2. the independent pitch of a kind of fuzzy control based on angle of attack weight coefficient as claimed in claim 1 is apart from control system, it is characterized in that: described independent pitch comprises three controllers, three motor drivers, three encoders, three speed reducers and three actuating motors apart from module, each controller is accepted respectively the control signal from PID controller, calculate by analysis, three motor drivers to the propeller pitch angle of adjusting vane send command signal, regulate three actuating motors by encoder respectively, control the variation of propeller pitch angle, realize the control to propeller pitch angle.
3. the independent pitch of a kind of fuzzy control based on angle of attack weight coefficient as claimed in claim 2 is apart from control system, it is characterized in that: described deviation signal and described deviation variation rate can at any time be adjusted to pid parameter certainly, application fuzzy theory principle is proofreaied and correct the pid parameter obtaining in real time.
4. the independent pitch of a kind of fuzzy control based on angle of attack weight coefficient as claimed in claim 3, apart from control system, is characterized in that, three initial parameter K of described deviation signal e, deviation variation rate ec and described PID controller p, K i, K dmeet following control law: (1) if | e| is larger, and no matter how e becomes, K pvalue all should get maximum, K iget minimum value, K dalso should get minimum value; (2) if | e| is medium, K pshould get minimum value, K iand K dit is suitable to get; (3) if | e| hour, K pand K iget higher value.
5. the independent pitch of a kind of fuzzy control based on angle of attack weight coefficient as claimed in claim 1, apart from control system, is characterized in that: the wind-force effect size that described angle of attack weight coefficient is received according to each blade is distributed.
6. the independent pitch of a kind of fuzzy control based on angle of attack weight coefficient as claimed in claim 1, apart from control system, is characterized in that: described input designated value is rated power.
CN201410136613.8A 2014-04-04 2014-04-04 Attach angle weight coefficient based independent variable pitch control system controlled by fuzzy PID (proportional integral derivative) Pending CN103912447A (en)

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CN105888971A (en) * 2016-04-28 2016-08-24 华北电力大学 Active load reducing control system and method for large wind turbine blade
CN110671266A (en) * 2019-11-13 2020-01-10 大连理工大学 Intelligent variable-pitch electromechanical control optimization method

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