CN104832368B - Concentarted wind energy Wind turbines variable pitch control method based on PD characteristic - Google Patents
Concentarted wind energy Wind turbines variable pitch control method based on PD characteristic Download PDFInfo
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Abstract
The invention belongs to technical field of wind power generation, more particularly to a kind of concentarted wind energy Wind turbines variable pitch control method based on PD characteristic.By the research to traditional concentarted wind energy Wind turbines structure, power characteristic, it is proposed that segmented power tracking mode fuzzy variable pitch control strategy.With the basic theories and method of fuzzy mathematics, the fuzzy set representations of condition, operation rule, and be stored in computer literacy storehouse as knowledge, then real response situation of the computer according to control system, with fuzzy reasoning, it is automatically obtained and the optimal of pid parameter is adjusted, and subsection fuzzy control has fully taken into account concentarted wind energy Wind turbines changed power characteristic, the working condition of unit is carried out into Discrete control, the non-linearization degree of controlled device can be reduced in each interval, while also by parameter Kp, Ki, KdAdjust and simplified, given full play to its simple structure, good stability, reliable operation, advantage easy to adjust.
Description
Technical field
The invention belongs to technical field of wind power generation, more particularly to a kind of concentarted wind energy wind based on PD characteristic
Group of motors variable pitch control method.
Background technology
The theoretical foundation of concentarted wind energy Wind turbines is theoretical concentrated wind energy.The theoretical core of concentrated wind energy is that energy is kept
Constant rule, the concentrated wind energy plant of wind energy that will be thin accelerates, rectification and homogenization rear-guard movable vane wheel rotary electrification, so as to carry
The energy-flux density of wind energy high, improves the unstability of wind energy, improves wind energy grade.Concentarted wind energy Wind turbines rely on
Its congenital sexual clorminance, can be widely applied to various wind speed, various atmospheric density area.
Concentarted wind energy Wind turbines have its unique n3Power characteristic.High wind speed is interval, acts on concentarted wind energy
Wind chugging rate on Wind turbines wind wheel is excessive, and conventional feather speed can not track wind changed power.It is then desired to one
Plant special variable pitch control method.
And under conventional variable pitch control strategy, feather speed is not higher than 6 °/s, directly applies to concentrated wind energy
Power tracking can not be solved the problems, such as on type Wind turbines, more system destabilizing factors can be brought on the contrary, and it is rigid
Improving feather speed can cause system unstability again.
PID control has control principle simple, and easy to use, strong adaptability, strong robustness, strong antijamming capability etc. are excellent
Point, but because conventional PID parameters setting method is numerous and diverse, its parameter is often difficult to adjust to cause poor performance.
When system mathematic model is unknown or uncertain, especially for control system of wind turbines --- it is non-linear, many
Variable system, fuzzy control can reach gratifying effect.
The content of the invention
In order to solve the skill that the fix pitch HAWT control mode that above-mentioned concentarted wind energy Wind turbines are used at present is present
Art defect, by the analysis and research of the wind power characteristic special to concentarted wind energy Wind turbines, the present invention proposes that one kind is based on
The concentarted wind energy Wind turbines variable pitch control method of PD characteristic, including：
Step 1, according to different wind speed, concentarted wind energy Wind turbines operating mode is divided into six stages：Treat wind stage, work(
Rate rise to the stage, power buffer stage, rated power stabilization the output stage, cut out stage, feathering stoppage protection stage in advance, wherein
First five stage corresponds to following wind speed interval respectively：[0, Vcut-in)、[Vcut-in, V95%ref)、[V95%ref, V105%ref)、
[V105%ref, V180%ref)、[V180%ref, Vcut-out), wherein, Vcut-inIt is incision wind speed, V95%refIt is 95% rated wind speed,
V105%refIt is 105% rated wind speed, V180%refIt is 180% rated wind speed, Vcut-outIt is cut-out wind speed；
Step 2, when wind speed be in whne the wind stage when, the blade working of concentarted wind energy Wind turbines is in zero propeller pitch angle state
Under, variable-pitch control system is standby, and whole machine treats wind；
Step 3, when wind speed rises to the stage in power, the blade working of concentarted wind energy Wind turbines is in propeller pitch angle
In the state of zero, and carry out power tracking monitoring；
Step 4, when wind speed is in power buffer stage, power buffer stage is divided into buffering Interval I [V95%ref, Vref)
With buffering II [V of intervalref, V105%ref), approximate linearisation is carried out on interval so as to be buffered at two, the different domains of selection,
Subsection fuzzy PID control is carried out with different fuzzy control rules；VrefIt is rated wind speed；
Step 5, when wind speed be in rated power stabilization the output stage when, by rated power stabilization the output stage be divided into specified
Interval I [V105%ref, V150%ref) with specified interval II [V150%ref, V180%ref), so as to different in two specified interval selections
Domain, with different fuzzy control rules, to reduce error, carry out subsection fuzzy PID control, V150%refIt is 180% volume
Determine wind speed；
Step 6, when wind speed be in it is pre- cut out the stage when, the aerodynamic brake characteristic of blade, rotating speed are added to control strategy
In carry out fuzzy-adaptation PID control；When wind speed exceeds threshold value in this stage, then direct feathering is shut down, and enters into feathering stoppage protection
Stage；
Step 7, when wind speed be in [Vcut-out,+∞) it is interval when, variable-pitch control system is rapidly adjusted to feathering blade
State；Stoppage protection aerogenerator unit safe.
The subsection fuzzy PID control method includes independent fuzzy tuning Kp, Ki, KdLink, PID control link, error
Feedback element, comprises the following steps that：
Step 101, respectively with wind speed V, power P, power variation rate PC as reference axis, choose linguistic variable word set be
{ NB, NM, NS, ZR, PS, PM, PB }, i.e., it is negative big, and it is negative small in bearing, zero, just small, center is honest }；
Step 102, determine that the generation of word variable is three-dimensional and sit using the membership function of wind speed, power, power variation rate
Mark system { V, P, PC }, each reference axis of the three-dimensional system of coordinate has independent unit scaling；
Step 103, adjusted by wind speed, power, the fringe of power variation rate, and uniquely correspond to coordinate
Point, by all coordinate points (V, P, PC) adjusted as independent variable domain, acts on PID control variable Kp、Ki、KdFunction of adjusting；
Step 104, the error for setting power output are E, and the change of error turns to EC, and the change of propeller pitch angle turns to U, chooses E, EC, U
The word set of linguistic variable be { NB, NM, NS, ZR, PS, PM, PB }, i.e., it is negative big, in bearing, bear it is small, zero, just small, center, just
Greatly }；
Step 105, given input are step signal, thus select following domain and related membership function, take input E and EC
Fuzzy set be { NB, NM, NS, ZR, PS, PM, PB }, domain be e={ -30,30 }, ec={ -60,60 }；Similarly, output K is takenp
Domain be { -0.3,0.3 }；Take output KiDomain be { -0.06,0.06 }；Take output KdDomain be { -3,3 }.
The PID control variable Kp、Ki、KdFunction expression of adjusting be：
K ' in formulap(V, P, PC), K 'i(V, P, PC), K 'd(V, P, PC) is respectively fuzzy-adaptation PID control variable transfer function,
Δp, Δi, ΔdIt is controlled quentity controlled variable error negative-feedback.
The beneficial effects of the present invention are：
1st, the present invention carries out segmentation mould in different wind speed sections by the tracking to power to concentarted wind energy Wind turbines
Paste PID variable pitch controls, improve the precision of control, it is ensured that concentrated type Wind turbines are in different wind speed Duan Junneng optimized runnings.
2nd, the present invention has effectively played the advantage of concentarted wind energy Wind turbines, can significantly improve concentarted wind energy wind
Wind is abandoned in the cut-out wind speed of group of motors, reduction.Under big wind speed operating mode, during wind energy increases suddenly, can be by traditional 25m/s's
Cut-out wind speed is " partly cutting out " wind speed interval to the wind speed area definition between the cut-out wind speed of new definition, reduce generating into
Originally, improve the economic benefit of unit, it is ensured that the safety grid-connection operation of Wind turbines.
3rd, the research and development the invention enables concentarted wind energy Wind turbines large scale computer are possibly realized so that with concentarted wind energy wind
Group of motors is that unit construction Large Scale Wind Farm Integration is possibly realized, and will substantially reduce the unit cost of wind-powered electricity generation, economic benefit, social benefit
It is rich.
4th, feather fuzzy PID control strategy can suppress the security and stability of the operation that increased unit.So as to
Also reduce the maintenance, repair cost of unit.
Brief description of the drawings
Fig. 1 is the structure chart of fuzzy-adaptation PID control in the present invention.
Fig. 2 is the flow chart of fuzzy-adaptation PID control in the present invention.
Tri- kinds of wind conditions of state of Fig. 3.
Tri- kinds of power situations of state of Fig. 4.
The propeller pitch angle situation of tri- kinds of states of Fig. 5.
The pitch rate situation of tri- kinds of states of Fig. 6.
Become oar moment of flexure at tri- kinds of blade roots of the blade of state 1 of Fig. 7.
Specific embodiment
Below in conjunction with the accompanying drawings, preferred embodiment is elaborated.
The invention aims to solve the fix pitch HAWT control that above-mentioned concentarted wind energy Wind turbines are used at present
The technological deficiency that mode processed is present, by the analysis and research of the wind power characteristic special to concentarted wind energy Wind turbines, there is provided
A kind of variable pitch control strategy for adapting to the special power characteristic of concentarted wind energy Wind turbines.
The wind energy that wind wheel absorbed is flowed through within the unit interval is：
(formula 1)
P in formula --- flow through the wind energy that wind wheel is absorbed, w in the unit interval；
P ' --- air flows through the wind energy that wind wheel is absorbed, w by concentrated wind energy device in the unit interval；
M --- air flows through the quality of unit area, kg within the unit interval；
ρ --- atmospheric density, kg/m3
V --- wind speed, m/s
Cp--- power coefficient
A --- swept area of rotor
After air is by concentrated wind energy device, V becomes greatly original n times, now by formula 1, can obtain：
(formula 2)
It follows that being concentrated by the wind energy of concentarted wind energy wind turbine power generation unit, the flow velocity of average natural wind can be increased to
Originally n times, power output can be n times of plain edition wind-driven generator.And the turbulivity through natural wind declines, from low wind speed
Section substantially increases to the range of decrease of high wind speed section.This concentrates wind it can be shown that output power can make under same nominal power
The energy high-speed rotary part of type Wind turbines, the diameter of impeller are smaller than plain edition wind power generator impeller diameter, and weight is lighter,
Inertia is smaller, is that variable pitch control brings certain convenience.
Due to the unique power characteristic of concentarted wind energy Wind turbines, the changed power that the change of unit wind speed brings is common
The n of type Wind turbines changed power3Times, it is too high in chugging rate, it is that accuracy, the real-time of variable pitch control all bring
Great difficulty.
In Wind turbines variable pitch control, Kp, Ki, KdParameter is difficult to adjust makes PID control precision, stability be subject to pole
Big influence.And the changed power of concentarted wind energy Wind turbines is exceedingly fast, classical PID control is easy to because arithmetic speed mistake
Slowly, parameter tuning is unreasonable causes Power Control not in time, causes burning machine.Parameter tuning we with fuzzy mathematics basic reason
By and method, condition, operation rule with fuzzy set representations, and using these fuzzy control rules and for information about as knowledge
It is stored in computer literacy storehouse, then computer, with fuzzy reasoning, is automatically obtained according to the real response situation of control system
The optimal of pid parameter is adjusted, here it is fuzzy-adaptation PID control.
Segmented power tracking mode fuzzy-adaptation PID control principle is described first.
The power characteristic of concentarted wind energy Wind turbines, has larger difference with plain edition Wind turbines.Due to concentration wind
Can device effect, natural wind speed by accelerated n times, and from formula 2, wind energy will be changed into it is original again.It means that
Concentarted wind energy Wind turbines low wind speed section in will overcome the dynamic load under common Wind turbines declared working condition；When concentration wind
When energy type Wind turbines work in rated wind speed, blower fan will overcome the dynamic load of common blower fan high wind speed section；And concentrate wind
When energy type wind-driven generator works in high wind speed section close to plain edition wind-driven generator cut-out wind speed, plain edition Wind turbines morning
Oar has been closed to shut down to ensure system safety, but concentarted wind energy Wind turbines still need to continuous firing.This is allowed for concentration wind
The operating mode segmentation of energy type Wind turbines and the control response of high wind speed section are particularly important.
Among concentarted wind energy Wind turbines segmented power tracking mode fuzzy variable pitch control strategy, segmented power with
Track fuzzy-adaptation PID control is a core idea.By segmentation, whole control interval is divided into some work with relative general character
It is interval.Concentarted wind energy Wind turbines have unique power characteristic, and whole operation interval is divided into several operation intervals has
Beneficial to each interval nonlinear degree of weakening.Avoid being advised using unified fuzzy control on whole strong nonlinearity operation interval
Then, the decline of control accuracy is caused.
(1) concentration-type Wind turbines operating mode is divided
1) the wind stage is treated
Treat that wind stage definitions are [0, Vcut-in).In this stage, the blade working of concentarted wind energy Wind turbines is in zero pitch
Under horn shape state, variable-pitch control system is standby, and whole machine treats wind.This stage is without fuzzy-adaptation PID control.
2) power rises to the stage
Power rises to stage definitions for [Vcut-in, V95%ref).In this stage, the blade working of concentarted wind energy Wind turbines
In the state of being zero in propeller pitch angle.In this stage without fuzzy-adaptation PID control, power tracking monitoring is only carried out.
3) power buffer stage
Power buffer stage is defined as buffering Interval I [V95%ref, Vref) and buffering II [V of intervalref, V105%ref)。
According to derivation：
(formula 3)
(formula 4)
Understand, in order to avoid the power oscillation that plain edition blower fan is caused near rated power, herein by buffer stage
It is divided into buffering Interval I [V95%ref, Vref) and buffering II [V of intervalref, V105%ref), it is approximate so as to be carried out on two buffering intervals
Linearisation, choose different domains, carry out subsection fuzzy PID control with different fuzzy control rules.The structure design
Can be with smooth power, it is to avoid power oscillation, protect unit.
And this fuzzy-adaptation PID control needs to set up to unit electromotive power output, wind speed, generator speed and propeller pitch angle
On the basis of monitoring.
4) the rated power stabilization output stage
Rated power stabilization output stage definitions are specified Interval I [V105%ref, V150%ref) with specified interval II
[V150%ref, V180%ref).Unit is in [V105%ref, V180%ref) strong nonlinear characteristic is presented on interval, it is interval enterprising herein
Row fuzzy-adaptation PID control, chooses the accuracy that unified control rule will have a strong impact on system.
It is computed：
(formula 5)
(formula 6)
Understand, it is necessary to the rated power stabilization output stage is divided into specified Interval I [V105%ref, V150%ref) with specified interval
Ⅱ[V150%ref, V180%ref), so as to two it is specified it is interval choose different domains, with different fuzzy control rules, with
Reduce error, carry out subsection fuzzy PID control.While avoiding overshoot, the unit that the less stress for also avoiding is manufactured into is damaged, and is played
The function of system protection.The power tracking of stabilization is finally reached, maximal wind-energy capture is realized.
5) stage " is cut out " in advance
" cutting out in advance " stage definitions are interval [V180%ref, Vcut-out).Due to the 1-n of concentration-type Wind turbines3Power is special
Property.In this stage, concentarted wind energy running of wind generating set is under reduced power state.Now wind power changes extremely acute with wind speed
It is strong, or even in cut-out wind speed, the wind speed on blade is acted on equivalent to the extreme wind speeds acted on the common blower fan in part.This
When Wind turbines blade propeller pitch angle only work in big propeller pitch angle state under just can be with smooth working in the stage.This rank
Section is operated under reduced power state, and concentarted wind energy Wind turbines take full advantage of wind energy capture ability drop under big propeller pitch angle state
It is low, and blade also partly plays the function of aerodynamic brake.Four-stage earlier above is needed to add unique control strategy in this stage.Need
The aerodynamic brake characteristic of blade is accounted for.Formulate the fuzzy-adaptation PID control in the stage.
Because the stage needs to carry out monitoring fortune simultaneously with regard to wind power, wind wheel aerodynamic brake characteristic, wind speed, rotating speed simultaneously
Calculate.When wind speed fluctuates acutely in this stage, feathering can directly shut down, enter into the feathering stoppage protection stage.
6) the feathering stoppage protection stage
In can meeting following two conditions into the feathering stoppage protection stage any one：First, when work wind speed falls into
Interval [Vcut-out,+∞).2nd, fluctuations in wind speed violent " cutting out in advance " stage.
When wind speed is more than cut-out wind speed Vcut-outWhen, variable-pitch control system will be adjusted to feathering blade with prestissimo
State.Stoppage protection aerogenerator unit safe.Under violent " cutting out in advance " state of fluctuations in wind speed, the limit suffered by Wind turbines is carried
Lotus all will greatly injure the safety of Wind turbines, therefore, Wind turbines need that blade is modulated into feathering shape with prestissimo
State, to evade windburn.
When work wind speed meets condition for the moment, the stage need not carry out subsection fuzzy PID control, directly trigger feather
Executing agency.When condition two is met, subsection fuzzy PID controller is out of service, and triggers variable pitch controlling mechanism, performs suitable
Oar is protected.
Fuzzy-adaptation PID control structure principle chart is as shown in Figure 1.PID control flow is as shown in Figure 2.
(2) segmented power tracking mode Fuzzy PID Control Rules
A kind of this invention segmented power tracking mode fuzzy-adaptation PID control, it is proposed that three dimensionality fuzzy control theory.
Control theory structure, as shown in Figure 1.Respectively with wind speed V, power P, power variation rate PC as reference axis, language is chosen
Say that the word set of variable is { NB, NM, NS, ZR, PS, PM, PB }, i.e., it is negative big, and it is negative small in bearing, zero, just small, center is honest }.
Membership function using wind speed, power, power variation rate determines the generation three-dimensional system of coordinate { V, P, PC } of word variable, and this three
Each reference axis of dimension coordinate system has independent unit scaling.By to wind speed, power, the fringe of power variation rate it is whole
It is fixed, and uniquely correspond to a coordinate points.And all coordinate points (V, P, PC) adjusted are acted on into K as independent variable domainp, Ki,
KdAdjust function：
(formula 7)
K ' in formulap(V, P, PC), K 'i(V, P, PC), K 'd(V, P, PC) is fuzzy-adaptation PID control variable transfer function, Δp,
Δi, ΔdIt is that controlled quentity controlled variable error returns feedback.And the principle of PID control variable transfer function design is：When error is big or larger,
Selection controlled quentity controlled variable to eliminate as early as possible based on error, and when error is small or smaller, selection controlled quentity controlled variable it is noted that prevent overshoot, to be
The stability of system is main starting point.And each parameter such as capacity chosen then by concentration-type Wind turbines of membership function is carried out
Custom-made.
Emulated based on segmented power tracking mode variable pitch control strategy, simulation process is as follows：
Choose a turbulivity class wind field higher.
Turbulivity Iref=0.16；
The average reference wind speed V of 10 minutesref=50m/s；
The extreme wind speeds V for meeting for 50 years onee50(z)=1.4Vref(z/zhub)0.11；
The extreme wind speeds V for meeting for 1 year onee1(z)=0.8Ve50(z)；
Longitudinal scale of turbulence
Turbulent flow standard deviation1=Iref(0.75Vhub+ b), b=5.6m/s；
Extreme fitful wind model
Wind speed
Emulation duration T=10.5s.
Computation model is the demo_a models in GH Bladed, and design parameter is：
Unit rated power Pe=2MW, rotor diameter D=80m, hub height zhub=60m, wheel hub wind speed Vhub=
12m/s, σ is calculated according to above parameter1=2.336m/s, Ve1=56m/s, Vgust=6.47m/s.
Concentrated type unit wind speed increases as original 1.8 times calculate new parameter and are：
σ1=3.488m/s Ve1=100.8m/s Vgust=9.669m/s
Calculate three kinds of situations, the extreme fitful wind under rated wind speed, the extreme fitful wind under high wind speed, pitch rate high (12 °/
S) the extreme fitful wind under.
By simulating, verifying, the control method can effectively using among concentarted wind energy Wind turbines, carry out power with
Track and control.Simulation result is shown in Fig. 3-7.
The present invention carries out segmented fuzzy variable pitch control to Wind turbines by power tracking.For PID controller
The limitation that parameter tuning is difficult, with the basic theories and method of fuzzy mathematics, condition, the operation fuzzy set table of rule
Show, and be stored in computer literacy storehouse using these fuzzy control rules and for information about as knowledge, then computer is according to control
The real response situation of system processed, with fuzzy reasoning, is automatically obtained and the optimal of pid parameter is adjusted, and subsection fuzzy is controlled
Concentarted wind energy Wind turbines changed power characteristic is fully taken into account, the working condition of unit has been carried out into Discrete control, you can
To reduce the non-linearization degree of controlled device in each interval, while also by parameter Kp, Ki, KdAdjust and simplified, fill
Its simple structure, good stability, reliable operation, advantage easy to adjust have been waved in distribution.
" power buffering " and " cutting out in advance " stage are added in control method, by stages section is entered using applicable pid parameter
Row variable pitch control, reduces concentarted wind energy Wind turbines 1-n3The power oscillation that power characteristic causes.Improve control
Accuracy, real-time.
Variable pitch control strategy reduces the incision wind of traditional concentarted wind energy Wind turbines by the control to propeller pitch angle
Speed so that wind-driven generator can devote oneself to work under lower wind speed, while also improving the excision wind speed of unit, make unit
The absorption wind energy that can stablize under wind speed higher.Widened the operation interval of unit, improve unit to various wind regime
Adaptability.
Therefore fuzzy variable pitch control strategy makes concentarted wind energy Wind turbines to maximization, industrialization, is incorporated into the power networks
Develop into possibility.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (3)
1. a kind of concentarted wind energy Wind turbines variable pitch control method based on PD characteristic, it is characterised in that including：
Step 1, according to different wind speed, concentarted wind energy Wind turbines operating mode is divided into six stages：Treat wind stage, power jump
Rise the stage, power buffer stage, rated power stabilization the output stage, cut out stage, feathering stoppage protection stage in advance, wherein first five
The individual stage corresponds to following wind speed interval respectively：[0, Vcut-in)、[Vcut-in, V95%ref)、[V95%ref, V105%ref)、[V105%ref,
V180%ref)、[V180%ref, Vcut-out), wherein, Vcut-inIt is incision wind speed, V95%refIt is 95% rated wind speed, V105%refFor
105% rated wind speed, V180%refIt is 180% rated wind speed, Vcut-outIt is cut-out wind speed；
Step 2, when wind speed be in whne the wind stage when, the blade working of concentarted wind energy Wind turbines under zero propeller pitch angle state,
Variable-pitch control system is standby, and whole machine treats wind；
Step 3, when wind speed rises to the stage in power, the blade working of concentarted wind energy Wind turbines is zero in propeller pitch angle
Under state, and carry out power tracking monitoring；
Step 4, when wind speed is in power buffer stage, power buffer stage is divided into buffering Interval I [V95%ref, Vref) with it is slow
Punching II [V of intervalref, V105%ref), so as to carry out approximate linearisation on two buffering intervals, choose different domains, use
Different fuzzy control rules carries out subsection fuzzy PID control；VrefIt is rated wind speed；
Step 5, when wind speed be in rated power stabilization the output stage when, by rated power stabilization the output stage be divided into specified interval
Ⅰ[ V105%ref, V150%ref) with specified interval II [V150%ref, V180%ref), so as in the different opinions of two specified interval selections
Domain, with different fuzzy control rules, to reduce error, carry out subsection fuzzy PID control, V150%refFor 150% it is specified
Wind speed；
Step 6, when wind speed be in it is pre- cut out the stage when, the aerodynamic brake characteristic of blade, rotating speed are added in control strategy
Row fuzzy-adaptation PID control；When wind speed exceeds threshold value in this stage, then direct feathering is shut down, and enters into feathering stoppage protection rank
Section；
Step 7, when wind speed be in [Vcut-out,+∞) it is interval when, variable-pitch control system is rapidly adjusted to full feathering state blade；
Stoppage protection aerogenerator unit safe.
2. method according to claim 1, it is characterised in that the subsection fuzzy PID control method includes independent fuzzy
Adjust Kp, Ki, KdLink, PID control link, error feedback element is comprised the following steps that：
Step 101, respectively with wind speed V, power P, power variation rate PC as reference axis, choose linguistic variable word set be NB,
NM, NS, ZR, PS, PM, PB }, i.e., it is negative big, and it is negative small in bearing, zero, just small, center is honest }；
Step 102, determine the generation three-dimensional system of coordinate of word variable using the membership function of wind speed, power, power variation rate
{ V, P, PC }, each reference axis of the three-dimensional system of coordinate has independent unit scaling；
Step 103, adjusted by wind speed, power, the fringe of power variation rate, and uniquely correspond to coordinate points,
By all coordinate points (V, P, PC) adjusted as independent variable domain, PID control variable K is acted onp、Ki、KdFunction of adjusting；
Step 104, the error for setting power output are E, and the change of error turns to EC, and the change of propeller pitch angle turns to U, chooses the language of E, EC, U
Say that the word set of variable is { NB, NM, NS, ZR, PS, PM, PB }, i.e., it is negative big, and it is negative small in bearing, zero, just small, center is honest }；
Step 105, given input are step signal, thus select following domain and related membership function, take the mould of input E and EC
Paste collection is { NB, NM, NS, ZR, PS, PM, PB }, and domain is e={ -30,30 }, ec={ -60,60 }；Similarly, output K is takenpOpinion
Domain is { -0.3,0.3 }；Take output KiDomain be { -0.06,0.06 }；Take output KdDomain be { -3,3 }.
3. method according to claim 2, it is characterised in that the PID control variable Kp、Ki、KdFunction representation of adjusting
Formula is：
K ' in formulap(V, P, PC), K 'i(V, P, PC), K 'd(V, P, PC) is respectively fuzzy-adaptation PID control variable transfer function, Δp,
Δi, ΔdIt is controlled quentity controlled variable error negative-feedback.
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| CN109217383B (en) * | 2018-09-30 | 2022-02-11 | 国电联合动力技术有限公司 | Intelligent wind power plant parameter self-adaptive rapid frequency modulation control method and system |
| CN113090459B (en) * | 2021-04-25 | 2022-04-26 | 中国华能集团清洁能源技术研究院有限公司 | Wind turbine generator set operation parameter control method, system, equipment and storage medium |
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| CN101054951A (en) * | 2007-05-24 | 2007-10-17 | 上海交通大学 | Large scale wind power machine control method based on maximum energy capture |
| CN101813059A (en) * | 2010-03-08 | 2010-08-25 | 江苏省电力试验研究院有限公司 | Power control method of low-rated wind speed wind driven generating system |
| EP2706230A1 (en) * | 2012-09-04 | 2014-03-12 | Penta Systems S.r.l. | Turbine and control system of the over-power of said turbine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101054951A (en) * | 2007-05-24 | 2007-10-17 | 上海交通大学 | Large scale wind power machine control method based on maximum energy capture |
| CN101813059A (en) * | 2010-03-08 | 2010-08-25 | 江苏省电力试验研究院有限公司 | Power control method of low-rated wind speed wind driven generating system |
| EP2706230A1 (en) * | 2012-09-04 | 2014-03-12 | Penta Systems S.r.l. | Turbine and control system of the over-power of said turbine |
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