CN104483846A - Method and system for increasing damping of transmission chain of variable-speed wind power generator - Google Patents

Abstract

The invention discloses a method and a system for increasing damping of a transmission chain of a variable-speed wind power generator. The method for increasing the damping of the transmission chain of the variable-speed wind power generator comprises the following steps of obtaining the rotation speed of a high-speed shaft of the variable-speed wind power generator; performing high pass filtering on the rotation speed of the high-speed shaft to obtain the filtered rotation speed; performing phase compensation calculation on the filtered rotation speed to obtain the compensated rotation speed, and performing amplitude-limited filtering on the compensated rotation speed; according to the preset damping increase proportion coefficient, the compensated rotation speed after amplitude-limited filtering, and the electromagnetic torque before damping increase of the transmission chain, calculating the electromagnetic torque after the damping increase of the transmission chain. The method and the system for increasing the damping of the transmission chain of the variable-speed wind power generator have the advantages that the damping effect is effectively increased, the resonance of the system is eliminated, and the axial load of the wind power generator is reduced.

Description

Variable Speed Wind Power Generator driving-chain adds resistance method and system

Technical field

The present invention relates to wind power generation field, particularly a kind of Variable Speed Wind Power Generator driving-chain adds resistance method and system.

Background technology

Wind power generating set (being called for short blower fan group) mechanical drive train refers to the drive chain that wind wheel, wheel hub, main shaft, gear case, high speed shaft, brake, shaft coupling etc. form, because the vibration of drive chain can have a huge impact parts dynamic load, cause gearbox torque to increase, cause and damage and produce serious mechanical noise.Particularly, under Variable Speed Wind Power Generator is operated in the pattern of permanent torque, only has very little damping, because torque no longer changes along with the change of rotating speed, so under unusual low resistance, gear case can be caused to have larger torque oscillation, and then counteract the advantage of variable-speed operation and the ability of controlling torque in theory.

For this reason, need for kinematic train adds some mechanical dampings artificially, such as, by designing suitable rubber blanket or coupling mechanism, certain thing followed can increase corresponding cost exactly.And for example, some dampings can be provided by the direct torque adjusting generator, namely on the basis of original torque set-point, increase the very minor swing in a kinematic train frequency, be used for increasing the damping of driving-chain, to suppress the twisting vibration of driving-chain and effectively to reduce load.

At present, as follows by the way of public technology of adjustment generator torque control increase damping:

S1: simultaneously detect the rotational speed omega obtaining driving chain of wind generating set high speed shaft _gwith the rotational speed omega of slow-speed shaft _w;

S2: do mathematic interpolation and obtain ω _e=(ω _g-N × ω _w), wherein, N is gear box ratio;

S3: by difference ω _edetect to obtain high order noise by low-pass filtering filtering, thus obtain ω _e', make δ ₁=p × ω _e', wherein, p is Error Feedback gain;

S4: calculate generator electromagnetic torque command value T _g1=T _g+ δ ₁× ω _g, torque controller controls generator and exports electromagnetic torque command value T _g1.

In above-mentioned way, the rotating speed detecting slow-speed shaft and high speed shaft respectively does difference, regulates, and when wind power generating set is in stable state, eliminate the power loss because damping change causes by low-pass filtering with after amplifying to feedback damping gain.But, when above-mentioned way is more than wind rating, mechanical drive train damping cannot be increased, and easily occur the problem of unit torsional oscillation, and under each test wind regime, the problem of generator electromagnetic power bad dynamic performance can be made.

Summary of the invention

In view of this, the object of the embodiment of the present invention is that proposing a kind of Variable Speed Wind Power Generator driving-chain adds resistance method and system, can increase damping effectively, eliminates system resonance, reduces the axial load of wind power generating set.

Further, this Variable Speed Wind Power Generator driving-chain adds resistance method and comprises: the high speed shaft rotating speed obtaining Variable Speed Wind Power Generator; High-pass filtering is carried out to described high speed shaft rotating speed, obtains filtering rotating speed; Phase compensation is carried out to described filtering rotating speed and calculates compensating rotational speed, and limit filtration is carried out to described compensating rotational speed; Add resistance scale-up factor, compensating rotational speed after limit filtration and driving-chain according to pre-setting add the electromagnetic torque before resistance, calculate driving-chain add resistance after electromagnetic torque.

Alternatively, in certain embodiments, described phase compensation calculates and comprises: calculate phase compensation factor x ₀, x ₁, y ₀, y ₁; According to phase compensation computing formula ω _g'=(ω _{g_fil}× x ₀+ x ₁× x ₁-y ₁× y ₁)/y ₀, calculate compensating rotational speed ω _g'; Wherein, ω _{g_fil}for described filtering rotating speed.

Alternatively, in certain embodiments, above-mentioned Variable Speed Wind Power Generator driving-chain adds resistance method and also comprises: set up driving-chain kinetic model; The driving-chain calculated is added the electromagnetic torque after resistance and described phase compensation factor inputs described driving-chain kinetic model, carry out simulating, verifying; Determine whether to add the electromagnetic torque after resistance to described driving-chain according to simulation results and described phase compensation factor is revised, if revise, then by adjustment described in add resistance scale-up factor, described phase compensation factor, obtain new driving-chain add resistance after electromagnetic torque.

Alternatively, in certain embodiments, the account form of the electromagnetic torque after described driving-chain adds resistance comprises: according to formula rT1=rT+p × ω _g', calculate driving-chain add resistance after electromagnetic torque rT1; Wherein, rT is the electromagnetic torque before described driving-chain adds resistance, and p is for adding resistance scale-up factor, ω _g'for the filtered compensating rotational speed of amplitude limit.

Alternatively, in certain embodiments, when carrying out limit filtration to described compensating rotational speed, its lower limit is-1, and the upper limit is 1.

Alternatively, in certain embodiments, add resistance scale-up factor described in, described phase compensation factor arranges according to sampling period of fan transmission system, ratio of damping, frequency filtering.

Correspondingly, the Variable Speed Wind Power Generator driving-chain that the embodiment of the present invention proposes adds resistance system and comprises: detection module, for obtaining the high speed shaft rotating speed of Variable Speed Wind Power Generator; Filtration module, for carrying out high-pass filtering to described high speed shaft rotating speed, obtains filtering rotating speed; Phase compensation block, calculates compensating rotational speed for carrying out phase compensation to described filtering rotating speed; Limit filtration module, for carrying out limit filtration to described compensating rotational speed; Add resistance module, for adding the electromagnetic torque before resistance according to add resistance scale-up factor, compensating rotational speed after limit filtration and the driving-chain that pre-set, calculate driving-chain add resistance after electromagnetic torque.

Alternatively, in certain embodiments, above-mentioned Variable Speed Wind Power Generator driving-chain adds resistance system and also comprises: MBM, for setting up driving-chain kinetic model; Simulating, verifying module, for the driving-chain calculated being added the electromagnetic torque after resistance and described phase compensation factor inputs described driving-chain kinetic model, carries out simulating, verifying; Correcting module, revises described electromagnetic torque and described phase compensation factor for determining whether according to simulation results, and revise time obtain new driving-chain add resistance after electromagnetic torque and phase compensation factor.

Alternatively, in certain embodiments, described phase compensation block comprises: setting unit, for arranging phase compensation factor x ₀, x ₁, y ₀, y ₁; Computing unit, for according to phase compensation computing formula: ω _g'=(ω _{g_fil}× x ₀+ x ₁× x ₁-y ₁× y ₁)/y ₀, calculate compensating rotational speed ω _g'; Wherein, ω _{g_fil}for described filtering rotating speed.

Alternatively, in certain embodiments, add resistance module described in comprise: add resistance computing unit, for according to formula rT1=rT+p × ω _g', calculate driving-chain add resistance after electromagnetic torque rT1; Wherein, rT is the electromagnetic torque before described driving-chain adds resistance, p for described in add resistance scale-up factor, ω _g'for the compensating rotational speed after described limit filtration.

Relative to prior art, the present invention has following advantage:

The Variable Speed Wind Power Generator driving-chain of the embodiment of the present invention adds in resistance method and system, by using the fluctuation in Hi-pass filter acquisition kinematic train frequency, and adopts phase place adjustment to offset resonance effect, thus effectively increases damping.

Find through simulating, verifying, Variable Speed Wind Power Generator driving-chain of the present invention is adopted to add resistance after method and system add resistance to driving-chain, when not increasing generated output fluctuation, almost completely eliminating system resonance, and effectively can reduce the axial load of wind power generating set.In addition, adopt the driving-chain of the embodiment of the present invention to add resistance method and system and do not deposit the problem that to vibrate easily appear in more than wind rating in the related, the problem that when also there is not constant wind and turbulent wind test, generator electromagnetic power dynamic property is deteriorated to some extent.

Accompanying drawing explanation

The accompanying drawing of a formation embodiment of the present invention part is used to provide the further understanding to the embodiment of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:

What Fig. 1 added resistance for kinematic train that the embodiment of the present invention provides realizes theory diagram;

Fig. 2 adds the implementation procedure schematic diagram of resistance for kinematic train that the embodiment of the present invention provides;

Fig. 3 is dynamic excitation wind simulation schematic diagram in the embodiment of the present invention;

Fig. 4 is the comparison schematic diagram that in the embodiment of the present invention, kinematic train adds gearbox torque before and after resistance; Wherein, the zone line representative of up-and-down boundary curve has damping situation, and up-and-down boundary curve regions represents undamped situation.

Fig. 5 is that in the embodiment of the present invention, kinematic train adds the gearbox torque spectrum analysis schematic diagram before and after resistance; Wherein, outer curve representative has damping situation, and inner curve represents undamped situation.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

It should be noted that, when not conflicting, the feature in the embodiment of the present invention and embodiment can combine mutually.

Below in conjunction with accompanying drawing, each preferred embodiment of the present invention is described further:

For realizing the Torsional Vibration Control to wind power generating set kinematic train, changing kinematic train damping by the direct torque adjusting generator, suppressing the torque oscillation of kinematic train by increasing damping.Here, for in correlation technique, time more than wind rating, torque controller exports as constant, mechanical drive train damping can not be increased, cause the problem of unit torsional oscillation, propose a kind of Variable Speed Wind Power Generator driving-chain and add resistance method and system, to optimize the Torsional Vibration Control to wind power generating set kinematic train.

embodiment of the method

With reference to Fig. 1, it is that the Variable Speed Wind Power Generator driving-chain proposed in some embodiments adds resistance principle schematic.

In the present embodiment, this Variable Speed Wind Power Generator driving-chain adds resistance method and comprises the following steps:

S100: the high speed shaft rotational speed omega obtaining Variable Speed Wind Power Generator _g.

S102: to high speed shaft rotational speed omega _gcarry out high-pass filtering, obtain filtering rotational speed omega _{g_fil}.

In this step, Hi-pass filter can be adopted to obtain the high-frequency signal of high speed shaft rotating speed, but be not limited to adopt Hi-pass filter mode.

S104: phase compensation calculating is carried out to filtering rotating speed, is compensated rotational speed omega _g', can in the following way:

ω _G'＝(ω _{G_fil}×x ₀+x ₁×x ₁-y ₁×y ₁)/y ₀

Wherein, x ₀, x ₁, y ₀, y ₁for phase compensation factor, ω _g'for compensating rotational speed, ω _{g_fil}for filtering rotating speed.Here, can carry out calculating and determine phase compensation factor x according to the cutoff frequency in the sampling period of fan transmission system, Hi-pass filter and ratio of damping ₀, x ₁, y ₀, y ₁.

S106: to compensating rotational speed ω _g'carry out limit filtration.Wherein, to the compensating rotational speed ω that phase compensation obtains _g'the lower limit carrying out limit filtration can be-1, and the upper limit can be 1, but adds in resistance process at driving-chain, for coordinating other parameters as hindered the value of scale-up factor, also can select other upper lower limit values, not forming any restriction to its value herein.

S108: add resistance scale-up factor, compensating rotational speed after limit filtration and driving-chain according to pre-setting add the electromagnetic torque before resistance, calculate driving-chain add resistance after electromagnetic torque.

In this step, the electromagnetic torque after calculating driving-chain adds resistance can adopt formula rT1=rT+p × ω _g', wherein, rT is that the driving-chain calculated by rotational speed and torque table adds the electromagnetic torque before resistance, and p is for adding resistance scale-up factor, ω _g'for the filtered compensating rotational speed of amplitude limit, add the rT1 after resistance for sending to converter system, the electromagnetic torque controlling generator exports.Wherein, add resistance scale-up factor p to arrange according to fan transmission system sampling period, ratio of damping, frequency filtering.

Above-described embodiment by using the fluctuation in Hi-pass filter acquisition kinematic train frequency, and offsets resonance effect by phase place adjustment, effectively can increase damping.

As the optional embodiment of one, it is further comprising the steps of that this Variable Speed Wind Power Generator driving-chain adds resistance method:

S110: set up driving-chain kinetic model.

S112: the driving-chain calculated is added the electromagnetic torque after resistance and phase compensation factor input driving-chain kinetic model, carry out simulating, verifying;

S114: determine whether to add the electromagnetic torque after resistance to driving-chain according to simulation results and phase compensation factor is revised, if revise, then performs S116; Revise if do not need, then perform S118.

S116: by adjustment add resistance scale-up factor, phase compensation factor, obtain new driving-chain add resistance after electromagnetic torque.

In this step, adjust the compensating rotational speed after limit filtration by amendment phase compensation factor, in addition, after obtaining new electromagnetic torque, can S112 be returned, re-start simulating, verifying.

S118: when determining the electromagnetic torque after not needing correction driving-chain to add resistance, terminate the simulating, verifying that this driving-chain adds resistance.

Find through simulating, verifying, above-mentioned Variable Speed Wind Power Generator driving-chain is adopted to add after resistance method adds resistance to driving-chain, when not increasing generated output fluctuation, almost completely eliminating system resonance, and effectively can reduce the axial load of wind power generating set.In addition, adopt the resistance method that adds of above-described embodiment not deposit the problem that to vibrate easily appear in more than wind rating in the related, also there is not the generator electromagnetic power dynamic property when constant wind and turbulent wind test and be deteriorated to some extent.

Variable Speed Wind Power Generator driving-chain for ease of understanding the various embodiments described above adds resistance method, is described further below to some Computing Principles involved in the various embodiments described above:

kinematic train modeling

Fig. 2 is the process schematic that kinematic train adds resistance, and wherein, θ is the displacement of driving-chain torsional deformation, and other parameter can illustrate in derivation below.

$I_{\mathrm{rot}}\stackrel{..}{q1}=T_{\mathrm{aero}}-T_{\mathrm{shaft}}$

$T_{\mathrm{shaft}}=K_d(q1-q2)+C_d(\stackrel{.}{q1}-\stackrel{\text{.}}{q2})$

$I_{\mathrm{gen}}\stackrel{..}{q2}=T_{\mathrm{shaft}}-T_{\mathrm{gen}}$

Wherein, q1, q2 are the position angle of wind wheel, generator respectively, the rotating speed of wind wheel, generator, K _dthe torsional rigid coefficient of driving-chain, C _dit is the torsion damping of driving-chain.T _aerofor pneumatic torque, T _shaftfor the response torque on driving-chain, I _rotfor wind wheel moment of inertia, I _genfor the moment of inertia of generator, δ T _genfor the disturbance of generator torque.

kinematic train adds resistance control principle

For wind wheel rotary freedom, be expressed as in first order modeling:

$I_{\mathrm{rot}}\stackrel{..}{q1}=T_{\mathrm{aero}}-T_{\mathrm{shaft}}---(5-1)$

Wherein, T _aerofor pneumatic torque, T _shaftfor the response torque on driving-chain, I _rotfor wind wheel moment of inertia.

In addition:

$T_{\mathrm{shaft}}=K_d(q1-q2)+C_d(\stackrel{.}{q1}-\stackrel{\text{.}}{q2})---(5-2)$

It is the response torque of slow-speed shaft.

We derive the linear model of these equations below.

Due to T _aerothe continuous function of wind speed W, wind speed round Ω, propeller pitch angle β, when at certain equilibrium point (W ₀, Ω ₀, β ₀) when having a subtle change, it can be launched into Taylor's number of poles at W, Ω, β is:

$T_{\mathrm{aero}}=T_{\mathrm{aero}}(W_0,{\mathrm{\Ω}}_0,{\mathrm{\β}}_0)+\frac{{\∂T}_{\mathrm{aero}}}{\∂W}\mathrm{\δW}+\frac{{\∂T}_{\mathrm{aero}}}{\∂\mathrm{\Ω}}\mathrm{\δ\Ω}+\frac{{\∂T}_{\mathrm{aero}}}{\∂\mathrm{\β}}\mathrm{\δ\β}+\mathrm{hots}---(5-3)$

(W ₀, Ω ₀, β ₀) be wind speed, rotating speed, the propeller pitch angle at equilibrium point place, δ W, δ Ω, δ β are respective disturbance, and " hots " is higher order term, can ignore herein.

Order the i.e. wind speed round of disturbance.

If

δT _aero＝T _aero(W,Ω,β)-T _aero(W ₀,Ω ₀,β ₀) (5-4)

$\mathrm{\δ\Ω}=\mathrm{\δ}\stackrel{.}{q1}=x1:$

$\begin{array}{c}{\mathrm{\δT}}_{\mathrm{aero}}=\frac{{\∂T}_{\mathrm{aero}}}{\∂W}\mathrm{\δW}+\frac{{\∂T}_{\mathrm{aero}}}{\∂\mathrm{\Ω}}\mathrm{\δ\Ω}+\frac{{\∂T}_{\mathrm{aero}}}{\∂\mathrm{\β}}\mathrm{\δ\β}\\ =\frac{{\∂T}_{\mathrm{aero}}}{\∂W}\mathrm{\δW}+\frac{{\∂T}_{\mathrm{aero}}}{\∂\mathrm{\Ω}}x1+\frac{{\∂T}_{\mathrm{aero}}}{\∂\mathrm{\β}}\mathrm{\δ\β}\end{array}---(5-5)$

Order $\frac{{\∂T}_{\mathrm{aero}}}{\∂W}=\mathrm{\α},\frac{{\∂T}_{\mathrm{aero}}}{\∂\mathrm{\Ω}}=\mathrm{\γ},\frac{{\∂T}_{\mathrm{aero}}}{\∂\mathrm{\β}}=\mathrm{\ξ},$

Then

δT _aero＝αδW+γ·x1+ξδβ (5-6)

Therefore

T _aero＝T _aero(W ₀,Ω ₀,β ₀)+αδW+γ·x1+ξδβ (5-7)

Now

$\begin{array}{c}{I}_{\mathrm{rot}}\stackrel{..}{q1}=T_{\mathrm{aero}}-T_{\mathrm{shaft}}\\ =T_{\mathrm{aero}}(W_0,{\mathrm{\Ω}}_0,{\mathrm{\β}}_0)+{\mathrm{\δT}}_{\mathrm{aero}}-T_{\mathrm{shaft}0}-{\mathrm{\δT}}_{\mathrm{shaft}}\end{array}---(5-8)$

Wherein, T _shaft0it is the shaft torque at equilibrium point place.Because at equilibrium point, wind wheel acceleration is zero, and the disturbance of pneumatic torque and shaft torque is zero.

T _aero(W ₀,Ω ₀,β ₀)＝＝T _shaft0(5-9)

Release

$I_{\mathrm{rot}}\stackrel{..}{q1}={\mathrm{\δT}}_{\mathrm{aero}}-{\mathrm{\δT}}_{\mathrm{shaft}}---(5-10)$

Therefore

${\mathrm{\δT}}_{\mathrm{aero}}-{\mathrm{\δT}}_{\mathrm{shaft}}=\mathrm{\α\δW}+\mathrm{\γ\δ}\stackrel{.}{q1}+\mathrm{\ξ\δ\β}-K_d(\mathrm{\δq}1-\mathrm{\δq}2)-C_d(\mathrm{\δ}\stackrel{.}{q1}-\mathrm{\δ}\stackrel{.}{q2})---(5-11)$

Order

$x1=\mathrm{\δ}\stackrel{.}{q1}$

x2＝K _d(δq1-δq2) (5-12)

$x3=\mathrm{\δ}\stackrel{.}{q2}$

Then

$\begin{array}{c}{I}_{\mathrm{rot}}\mathrm{\δ}\stackrel{..}{q1}=\mathrm{\α\δW}+\mathrm{\γ}\·x1+\mathrm{\ξ\δ\β}-K_d(\mathrm{\δq}1-\mathrm{\δq}2)-C_d(\mathrm{\δ}\stackrel{.}{q1}-\mathrm{\δ}\stackrel{.}{q2})\\ =\mathrm{\α\δW}+\mathrm{\γ}\·x1+\mathrm{\ξ\δ\β}-x2-C_d(x1-x3)\end{array}---(5-13)$

Therefore

$I_{\mathrm{rot}}\stackrel{.}{x1}=(\mathrm{\γ}-C_d)x1-x2+C_{d}x3+\mathrm{\α\δW}+\mathrm{\ξ\δ\β}---(5-14)$

Here, the linear equation that rotates for wind wheel of formula (5-14).

Now

$\stackrel{.}{x2}=K_d(\mathrm{\δ}\stackrel{.}{q1}-\mathrm{\δ}\stackrel{.}{q2})=K_d(x1-x3)---(5-15)$

Here, formula (5-15) linear equation that is x2.

In addition, the equation of generator can be expressed as:

$I_{\mathrm{gen}}\stackrel{..}{q2}=T_{\mathrm{shaft}}-T_{\mathrm{gen}}---(5-16)$

With discussed above similar, at equilibrium point place, the acceleration of generator is zero.Therefore, the torque of shaft torque and generator is equal at equilibrium point place.

Due to

$\begin{array}{c}{I}_{\mathrm{gen}}\mathrm{\δ}\stackrel{..}{q2}={\mathrm{\δT}}_{\mathrm{shaft}}-{\mathrm{\δT}}_{\mathrm{gen}}\\ =K_d(\mathrm{\δq}1-\mathrm{\δq}2)+C_d(\mathrm{\δ}\stackrel{.}{q1}-\mathrm{\δ}\stackrel{.}{q2})-{\mathrm{\δT}}_{\mathrm{gen}}\end{array}---(5-17)$

Therefore

$I_{\mathrm{gen}}\stackrel{.}{x3}=C_{d}x1+x2-C_{d}x3-{\mathrm{\δT}}_{\mathrm{gen}}---(5-18)$

Wherein, I _genfor the moment of inertia of generator, δ T _genfor the disturbance of generator torque.Controller be input as δ T _gen, we can the linear state equations of write through system now:

the perturbation of wind speed round.

X2=K _d(δ q1-δ q2), the perturbation of driving-chain elasticity of torsion power.

the perturbation of generator speed.

$\left[\begin{array}{c}\stackrel{.}{x1}\\ \stackrel{.}{x2}\\ \stackrel{.}{x3}\end{array}\right]=\left[\begin{array}{ccc}\frac{(\mathrm{\γ}-C_d)}{I_{\mathrm{rot}}}& \frac{-1}{I_{\mathrm{rot}}}& \frac{C_d}{I_{\mathrm{rot}}}\\ K_d& 0& -K_d\\ \frac{C_d}{I_{\mathrm{gen}}}& \frac{1}{I_{\mathrm{gen}}}& -\frac{C_d}{I_{\mathrm{gen}}}\end{array}\right]\left[\begin{array}{c}x1\\ x2\\ x3\end{array}\right]+\left[\begin{array}{c}0\\ 0\\ -\frac{1}{I_{\mathrm{gen}}}\end{array}\right]{\mathrm{\δT}}_{\mathrm{gen}}+\left[\begin{array}{c}\frac{\mathrm{\α}}{I_{\mathrm{rot}}}\\ 0\\ 0\end{array}\right]\mathrm{\δW}+\left[\begin{array}{c}\frac{\mathrm{\ξ}}{I_{\mathrm{rot}}}\\ 0\\ 0\end{array}\right]\mathrm{\δ\β}---(5-19)$

$y=\left[\begin{array}{ccc}0& 0& 1\end{array}\right]\left[\begin{array}{c}x1\\ x2\\ x3\end{array}\right]$

kinematic train adds resistance GH simulating, verifying

For double-feedback aerogenerator group, due on wind rating, torque can not be followed the change of rotating speed again and change, the damping of driving-chain is very little, easily cause the torsional vibration of driving-chain, cause large gearbox torque fluctuation, therefore, in the design of controller, add damping filter necessitate.

When carrying out the simulation of the power generation situation under extraneous turbulent wind excitation, external wind excitation can adopt Three dimensional Turbulent wind regime (16m/s mean wind speed), as shown in Figure 3.Such as, the 1.5MW SY7715 type design of Bladed is carried out the design verification that driving-chain adds resistance, and test finds: after increasing damping filter, and gear case bears torque amplitude and reduces, and the load stressing conditions such as gear case take an evident turn for the better after applying damping.

When carrying out the simulation of the power generation situation under extraneous turbulent wind excitation, obtain gear case bear torque situation of change as shown in Figure 4, the correlation curve of torque spectrum analysis as shown in Figure 5.In Fig. 4, the center section representative of upper lower curve has damping situation, and upper lower curve represents undamped situation.In Fig. 5, outer curve representative has damping situation, and inner curve represents undamped situation.Have damping and undamped situation by contrast, can find out, after increasing damping filter, gear case bears torque amplitude and reduces, and the load stressing conditions such as gear case take an evident turn for the better after applying damping.

For the torsional vibration problem of driving-chain, adopt the method adding damped frequency in the direct torque on wind rating to suppress vibration and gearbox torque fluctuation, prove that it is effective by Bladed emulation.Utilizing MATLAB to carry out simulation analysis to adding resistance situation simultaneously, also demonstrating the validity adding resistance.

In control theory, when the limit of system equation is very near the imaginary axis, the instability of system can be caused.This main manifestations is, after input nonlinearities introduces the disturbance of certain frequency, system responses to the decay of this disturbance slowly, causes and exports vibration.If the POLE PLACEMENT USING of system equation to from the imaginary axis slightly away from place, then can accelerate to input decay.Therefore, being added on generator torque by introducing a small sample perturbations, reaching with this object increasing driving-chain damping.Find through experimental verification, add the limit after feedback gain than the original distance imaginary axis far, serve improvement result.

system embodiment

For optimizing the Torsional Vibration Control to Variable Speed Wind Power Generator kinematic train, propose a kind of Variable Speed Wind Power Generator driving-chain and add resistance system, this system comprises:

Detection module, for obtaining the high speed shaft rotating speed of Variable Speed Wind Power Generator;

Filtration module, for carrying out high-pass filtering to high speed shaft rotating speed, obtains filtering rotating speed;

Phase compensation block, calculates compensating rotational speed for carrying out phase compensation to filtering rotating speed;

Limit filtration module, for carrying out limit filtration to compensating rotational speed;

Add resistance module, for adding the electromagnetic torque before resistance according to add resistance scale-up factor, compensating rotational speed after limit filtration and the driving-chain that pre-set, calculate driving-chain add resistance after electromagnetic torque.

Optionally, in above-described embodiment, phase compensation block can comprise further:

Setting unit, for arranging phase compensation factor x ₀, x ₁, y ₀, y ₁;

Computing unit, for according to phase compensation computing formula:

ω _g'=(ω _{g_fil}× x ₀+ x ₁× x ₁-y ₁× y ₁)/y ₀, calculate compensating rotational speed ω _g'; Wherein, ω _{g_fil}for filtering rotating speed.

Optionally, in above-described embodiment, adding resistance module can comprise further:

Add resistance computing unit, for according to formula rT1=rT+p × ω _g', calculate driving-chain add resistance after electromagnetic torque rT1.

Wherein, rT is the electromagnetic torque before driving-chain adds resistance, and p is for adding resistance scale-up factor, ω _g'for the filtered compensating rotational speed of amplitude limit.

As an optional embodiment, above-mentioned Variable Speed Wind Power Generator driving-chain adds resistance system and also can comprise:

MBM, for setting up driving-chain kinetic model;

Simulating, verifying module, for the driving-chain calculated being added the electromagnetic torque after resistance and phase compensation factor input driving-chain kinetic model, carries out simulating, verifying;

Correcting module, for revising electromagnetic torque and phase compensation factor according to simulation results, obtaining new driving-chain and adding the electromagnetic torque after resistance and phase compensation factor.

Optionally, correcting module also can be used for new driving-chain being added the electromagnetic torque after resistance and sends to simulating, verifying module to re-start simulating, verifying.

In above-described embodiment, Variable Speed Wind Power Generator driving-chain adds the fluctuation in resistance system use Hi-pass filter acquisition kinematic train frequency, and offsets resonance effect by phase place adjustment, effectively increases damping.Further, after driving-chain adds resistance, when not increasing generated output fluctuation, almost completely eliminating system resonance, and effectively can reduce the axial load of wind power generating set.In addition, adopt above-mentioned Variable Speed Wind Power Generator driving-chain to add resistance system not exist in public technology and more than wind rating easily occur vibrating and the problem of electromagnetic power degradation under each wind regime.

Obviously, those skilled in the art should be understood that, in the above-mentioned embodiment of the present invention, Variable Speed Wind Power Generator driving-chain adds each module of resistance system, or each step that Variable Speed Wind Power Generator driving-chain adds resistance method can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.Described memory storage is nonvolatile memory, as: ROM/RAM, flash memory, magnetic disc, CD etc.

The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. Variable Speed Wind Power Generator driving-chain adds a resistance method, it is characterized in that, comprising:

Obtain the high speed shaft rotating speed of Variable Speed Wind Power Generator;

High-pass filtering is carried out to described high speed shaft rotating speed, obtains filtering rotating speed;

Phase compensation is carried out to described filtering rotating speed and calculates compensating rotational speed, and limit filtration is carried out to described compensating rotational speed;

Add resistance scale-up factor, compensating rotational speed after limit filtration and driving-chain according to pre-setting add the electromagnetic torque before resistance, calculate driving-chain add resistance after electromagnetic torque.

2. Variable Speed Wind Power Generator driving-chain according to claim 1 adds resistance method, it is characterized in that, the mode that described phase compensation calculates comprises:

Calculate phase compensation factor x ₀, x ₁, y ₀, y ₁;

According to phase compensation computing formula ω _g'=(ω _{g_fil}× x ₀+ x ₁× x ₁-y ₁× y ₁)/y ₀, calculate compensating rotational speed ω _g'; Wherein, ω _{g_fil}for described filtering rotating speed.

3. Variable Speed Wind Power Generator driving-chain according to claim 2 adds resistance method, it is characterized in that, also comprises:

Set up driving-chain kinetic model;

Described driving-chain is added the electromagnetic torque after resistance and described phase compensation factor inputs described driving-chain kinetic model, carry out simulating, verifying;

Determine whether to add the electromagnetic torque after resistance to described driving-chain according to simulation results and described phase compensation factor is revised; If revise, then by adjustment described in add resistance scale-up factor, described phase compensation factor, obtain new driving-chain add resistance after electromagnetic torque.

4. Variable Speed Wind Power Generator driving-chain according to claim 3 adds resistance method, it is characterized in that, the account form of the electromagnetic torque after described driving-chain adds resistance comprises:

According to formula rT1=rT+p × ω _g', calculate driving-chain add resistance after electromagnetic torque rT1;

Wherein, rT is the electromagnetic torque before described driving-chain adds resistance, p for described in add resistance scale-up factor, ω _g'for the compensating rotational speed after described limit filtration.

5. Variable Speed Wind Power Generator driving-chain according to claim 4 adds resistance method, it is characterized in that, when carrying out limit filtration to described compensating rotational speed, its lower limit is-1, and the upper limit is 1.

6. Variable Speed Wind Power Generator driving-chain according to claim 5 adds resistance method, it is characterized in that, described in add resistance scale-up factor, described phase compensation factor arranges according to sampling period of fan transmission system, ratio of damping, frequency filtering.

7. Variable Speed Wind Power Generator driving-chain adds a resistance system, it is characterized in that, comprising:

Detection module, for obtaining the high speed shaft rotating speed of Variable Speed Wind Power Generator;

Filtration module, for carrying out high-pass filtering to described high speed shaft rotating speed, obtains filtering rotating speed;

Phase compensation block, calculates compensating rotational speed for carrying out phase compensation to described filtering rotating speed;

Limit filtration module, for carrying out limit filtration to described compensating rotational speed;

Add resistance module, for adding the electromagnetic torque before resistance according to add resistance scale-up factor, compensating rotational speed after limit filtration and the driving-chain that pre-set, calculate driving-chain add resistance after electromagnetic torque.

8. Variable Speed Wind Power Generator driving-chain according to claim 7 adds resistance system, it is characterized in that, also comprises:

MBM, for setting up driving-chain kinetic model;

Simulating, verifying module, adds the electromagnetic torque after resistance for described driving-chain and described phase compensation factor inputs described driving-chain kinetic model, carries out simulating, verifying;

Correcting module, revises described electromagnetic torque and described phase compensation factor for determining whether according to simulation results, and revise time obtain new driving-chain add resistance after electromagnetic torque and phase compensation factor.

9. the Variable Speed Wind Power Generator driving-chain according to claim 7 or 8 adds resistance system, it is characterized in that, described phase compensation block comprises:

Setting unit, for calculating phase compensation factor x ₀, x ₁, y ₀, y ₁;

Computing unit, for according to phase compensation computing formula:

ω _g'=(ω _{g_fil}× x ₀+ x ₁× x ₁-y ₁× y ₁)/y ₀, calculate compensating rotational speed ω _g'; Wherein, ω _{g_fil}for described filtering rotating speed.

10. the Variable Speed Wind Power Generator driving-chain according to claim 7 or 8 adds resistance system, it is characterized in that, described in add resistance module comprise:

Add resistance computing unit, for according to formula rT1=rT+p × ω _g', calculate driving-chain add resistance after electromagnetic torque rT1;

Wherein, rT is the electromagnetic torque before described driving-chain adds resistance, p for described in add resistance scale-up factor, ω _g'for the compensating rotational speed after described limit filtration.