CN105402085B - A kind of control system of methods and applications this method of wind turbine adjustment control parameter - Google Patents
A kind of control system of methods and applications this method of wind turbine adjustment control parameter Download PDFInfo
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- CN105402085B CN105402085B CN201510876252.5A CN201510876252A CN105402085B CN 105402085 B CN105402085 B CN 105402085B CN 201510876252 A CN201510876252 A CN 201510876252A CN 105402085 B CN105402085 B CN 105402085B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a kind of method of wind turbine adjustment control parameter, including：(1) wind turbine linear numerical modei under different wind speed is provided by fan design data；(2) using generator speed as feedback signal design of feedback controller, θ=kpe+k=∫ e dt, wherein kpFor proportionality coefficient, kiFor integral coefficient, e is generator actual speed and rated speed difference, and θ is change propeller angle；(3) k is setpWith kiValue range, pass through whole response characteristics that time-domain and frequency-domain simulation analysis obtain wind turbine under different wind speed in control parameter value range；(4) correlation function is calculated by the response characteristic under more different wind speed, the wind speed fan characteristic of strong correlation is merged；(5) fan condition is classified according to amalgamation result, control parameter method of adjustment is drawn according to the response characteristic of different classifications.Invention additionally discloses the control system of application this method.The present invention has reliable theoretical foundation based on wind turbine mathematical model, and to fan condition guidance to different types of areas, simplifies workload.
Description
Technical field
The present invention relates to Wind turbines rotating speed control technology field, more particularly to a kind of side of wind turbine adjustment control parameter
The control system of method and application this method.
Background technology
China's wind resource is very abundant, and explored wind energy theory reserves are 32.26 hundred million kilowatts, and wind energy belongs to cleaning
Green energy resource, therefore obtain the Chinese government and support energetically.The principle of wind-power electricity generation is that the mechanical energy captured in wind transforms into electricity
Energy.But since the change of wind speed can directly change the blade rotary speed of Wind turbines, when it is changed greatly, wind can be caused
The power swing that motor group carries out output during rated generation is larger, influences the peace of the power generating quality and wind turbine of Wind turbines in itself
Entirely.
Therefore, the variable blade control system of wind-power electricity generation is one of core technology of Wind turbines, and aerogenerator unit safe
The necessary condition of operation.And the design of pitch control device parameter generally depends on the experience of designer, while adjust control ginseng
Number lacks enough theories when being especially adjusted at the scene.When designer is controlled system design, can only pass through
Substantial amounts of l-G simulation test, forms the waste of resource；Meanwhile when designer carries out field adjustable, due to lacking enough letters
Breath, easily so that control parameter stability margin deficiency, produces security risk.
It can be seen from the above that the variable blade control system of above-mentioned existing wind-power electricity generation is upper with using in structure, method, it is clear that still deposits
There are inconvenience and defect, and be urgently further improved.How a kind of method of new wind turbine adjustment control parameter is founded
It is real to belong to one of current important research and development problem with the control system of application this method.
The content of the invention
The technical problem to be solved in the present invention is to provide it is a kind of based on mathematical model wind turbine adjustment control parameter method,
It is set to find out suitable control parameter method of adjustment for different operating modes, so as to overcome the pitch control system of existing wind-power electricity generation
The deficiency of system.
In order to solve the above technical problems, a kind of method of wind turbine adjustment control parameter of the present invention, includes the following steps：
(1) by the design data of wind turbine, wind turbine linear numerical modei under different wind speed is provided；
(2) it is using generator speed as feedback signal, design of feedback controller, the controller mathematical model：θ=
kpe+ki∫ e dt, wherein, kpFor proportional controller coefficient, kiFor integral controller coefficient, e for actual generator rotating speed with it is specified
The difference of generator speed, θ are change propeller angle；
(3) k is setpWith kiValue range, pass through the simulation analysis of time-domain and frequency-domain, obtain control parameter value range
Whole response characteristics of wind turbine under interior difference wind speed；
(4) by whole response characteristics of wind turbine under more different wind speed, correlation function is calculated, by the corresponding of strong correlation
Wind speed fan characteristic merges；
(5) according to the amalgamation result of step (4), the working status of wind turbine is classified, and it is opposite according to different working condition
The response characteristic answered draws suitable control parameter method of adjustment.
As a modification of the present invention, wind turbine linear numerical modei formula is under different wind speed in the step (1)：
Wherein, A is Wind turbines state matrix, and B is the input coefficient matrix of Wind turbines, and C is the output of Wind turbines
Coefficient matrix, x are the state variable of Wind turbines, and y is the output variable of Wind turbines.
Further to improve, the mathematical modeling formula can be reduced to single-input single-output form, wherein input is propeller pitch angle, output
For generator speed.
Further improve, whole response characteristics of wind turbine include control system rise time, overshoot in the step (3)
Amount, stabilization time and magnitude margin.
Further improve, the step (4) includes：By calculating the corresponding characteristic curve phase relation of two adjacent groups wind speed
Count to divide operating mode, the strong correlation refers to that the degree of correlation is more than 0.7.
The present invention also provides a kind of control system using above-mentioned wind turbine adjustment control parameter method, including generator speed
Signal acquisition mechanism and pitch control mechanism,
The generator connection of the generator speed signal collecting mechanism and Wind turbines, for gathering the rotating speed of generator
Data, and send the rotary speed data collected to pitch control mechanism；
The pitch control mechanism adjusts control parameter method using the wind turbine, for adjusting suitable control parameter,
And calculate and become propeller angle with output blade.
Further improve, the generator speed signal collecting mechanism includes photoelectric encoder and rotating speed wave filter, described
The input terminal of photoelectric encoder is connected with the generator, its output terminal is connected with the input terminal of rotating speed wave filter, the rotating speed
The output terminal of wave filter is connected with pitch control mechanism.
Further improve, the pitch control mechanism includes PI controllers, the PI controllers and the rotating speed wave filter
Output terminal connection.
Using above-mentioned technical solution, the present invention has at least the following advantages：
The method of wind turbine adjustment control parameter of the present invention is the mathematical model established based on wind turbine whole design data, is had
Reliable theoretical foundation；But mathematical model is depended not only upon, it is right by whole response characteristics of wind turbine under more different wind speed
Fan condition is classified, and carries out qualitatively control parameter design guidance to corresponding operating mode, enormously simplify design control
Workload during parameter, is controlled designer device design and field control parameter adjustment is of great significance.
Brief description of the drawings
Above-mentioned is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, below
With reference to attached drawing, the present invention is described in further detail with embodiment.
Fig. 1 is the flow chart that system response characteristic curve is obtained under different wind speed；
Fig. 2 is the resonse characteristic of low wind speed section wind turbine；
Fig. 3 is the resonse characteristic of middle wind speed section wind turbine；
Fig. 4 is the resonse characteristic of high wind speed section wind turbine.
Embodiment
Referring to the drawings shown in 1, a kind of method of the wind turbine adjustment control parameter based on mathematical model of the present invention, including it is as follows
Step：
(1) by the design data of wind turbine whole, the wind turbine linear numerical modei under different wind speed is provided；
First, by the design data of wind turbine whole, including：Blade, wheel hub, main shaft, tower, driving-chain, the spy of cabin
Property information, the linear numerical modei of Wind turbines is established under different wind speed, is described by following equation：
Wherein, A is Wind turbines state matrix, and B is the input coefficient matrix of Wind turbines, and C is the output of Wind turbines
Coefficient matrix, x are the state variable of Wind turbines, and y is the output variable of Wind turbines.And the mathematical model is reduced to singly enter
The form singly gone out, wherein input is propeller pitch angle, exports as generator speed.
(2) using generator speed as feedback signal, design of feedback controller, such as adds PI controllers, structure in the loop
Into closed loop feedback control circuit.Wherein, controller mathematical model is：
θ=kpe+ki∫e dt
Wherein, kpFor proportional controller coefficient, kiFor integral controller coefficient, e is actual generator rotating speed and rated generation
The difference of machine rotating speed, θ are change propeller angle.
(3) k is setpWith kiValue range, pass through the simulation analysis of time-domain and frequency-domain, obtain control parameter value range
Whole response characteristics of wind turbine under interior difference wind speed, such as control system rise time, overshoot, stabilization time and magnitude margin.
(4) by whole response characteristics of wind turbine under more different wind speed, correlation function is calculated, by the corresponding of strong correlation
Wind speed fan characteristic merges.
Operating mode is divided by calculating the corresponding characteristic curve related coefficient of two adjacent groups wind speed.When two groups of wind speed are corresponding
When characteristic curve is strong correlation, i.e., when the degree of correlation is more than 0.7, a kind of operating mode can be merged into.
(5) according to the amalgamation result of step (4), the working status of wind turbine is classified, and is drawn properly according to response characteristic
Control parameter method of adjustment.
Such as by foregoing calculating process, Wind turbines operating mode can be divided into three classes by wind speed difference, i.e., low wind speed operation
State, middle wind speed operating status and high wind speed operating status.It is now assumed that during design or field adjustable, wind turbine pair is found
Cause hypervelocity failure slowly excessively in the control process of rotating speed, it is necessary to reduce the dynamic process of rotating speed control.If this failure occurs low
During wind speed operating status, low wind speed operating status is as shown in Figure 2.It can be seen that, increase k from attached drawing 2pAnd kiCan be effective
Reduce the rise time, but increase kiEasily lead to the excessive dynamic quality for influencing control system of overshoot.Therefore, at this
Operating mode should be mainly by increasing kpIt is adjusted；If this failure occurs in middle wind speed operating status, middle wind speed operating status
As shown in Figure 3.It can be seen that, increase k from attached drawing 3pAnd kiIt can reduce the rise time.It is simple as we can see from the figure to increase
Add kpSteady state time can be extended, the dynamic process of control system can be increased on the contrary, simultaneity factor overshoot can with stability margin pair
To tolerate larger ki, therefore this operating mode should by the same time increase k by a small marginpAnd kiIt is adjusted；If this failure is sent out
In high wind speed operating status, high wind speed operating status is as shown in Figure 4 for life.It can be seen that, increase k from attached drawing 4pAnd kiAll may be used
To reduce the rise time.But increase k as we can see from the figurepSteady state time can be extended, the dynamic of control system can be increased on the contrary
State process.Meanwhile increase k as we can see from the figureiIt is weaker on the overshoot and stability margin influence of control system.Therefore, exist
This operating mode should be mainly by increasing kiIt is adjusted.To sum up, under different blower fan work states, according to response characteristic
Difference can find out the method for adjustment of suitable control parameter, reach the technique effect for efficiently using wind energy.
The present invention also provides a kind of control system of wind turbines using the above method, including generator speed signal to gather
Mechanism and pitch control mechanism.The generator of generator speed signal collecting mechanism and Wind turbines connects, and generates electricity for gathering
The rotary speed data of machine, and give the generator speed data sending collected to pitch control mechanism.
The generator speed signal collecting mechanism includes photoelectric encoder and rotating speed wave filter, the input terminal of photoelectric encoder
It is connected with generator, its output terminal is connected with the input terminal of rotating speed wave filter, output terminal and the pitch control machine of rotating speed wave filter
Structure connects.
Pitch control mechanism includes PI controllers, it utilizes the above-mentioned wind turbine adjustment control parameter based on mathematical model
Method, can instruct the adjustment of control parameter, and the final simultaneously output blade that calculates becomes propeller angle.
The present invention enables the control system of wind turbines by adjusting suitable control parameter is gone out so as to efficiently use wind energy
Enough motor speeds for effectively controlling Wind turbines under different wind speed, and then the power output of Wind turbines is controlled, improve wind turbine
The power generating quality and safety coefficient of group.
The present invention provides theoretical direction for the PI controller designs of rotation speed of fan, and device design is controlled to designer
And field control parameter adjustment is of great significance.
The method of wind turbine adjustment control parameter of the present invention based on mathematical model, is given corresponding to not by mathematical model
With the index request of fan condition, to the easy to adjust of control parameter, the workload of designer is significantly simplified, at the same it is right
Important rationale is provided in control parameter adjustment.
The above described is only a preferred embodiment of the present invention, not make limitation in any form to the present invention, this
Field technology personnel make a little simple modification, equivalent variations or modification using the technology contents of the disclosure above, all fall within this hair
In bright protection domain.
Claims (8)
- A kind of 1. method of wind turbine adjustment control parameter, it is characterised in that include the following steps：(1) by the design data of wind turbine, wind turbine linear numerical modei under different wind speed is provided；(2) it is using generator speed as feedback signal, design of feedback controller, the controller mathematical model：θ=kpe+ki∫ E dt, wherein, kpFor proportional controller coefficient, kiFor integral controller coefficient, e is actual generator rotating speed and rated generator The difference of rotating speed, θ are change propeller angle；(3) k is setpWith kiValue range, by the simulation analysis of time-domain and frequency-domain, obtain in control parameter value range not With whole response characteristics of wind turbine under wind speed；(4) by whole response characteristics of wind turbine under more different wind speed, correlation function is calculated, by the corresponding wind speed of strong correlation Fan characteristic merges；(5) according to the amalgamation result of step (4), the working status of wind turbine is divided into low wind speed operating status, middle wind speed runs shape State and high wind speed operating status, and suitable control parameter adjustment side is drawn according to the corresponding response characteristic of different working condition Method：If wind turbine is in low wind speed operating status, control parameter method of adjustment is increase kp；If wind turbine is in middle wind speed operation shape State, control parameter method of adjustment are to increase k by a small margin at the same timepAnd ki；If wind turbine is in high wind speed operating status, control parameter tune Adjusting method is increase ki。
- 2. the method for wind turbine adjustment control parameter according to claim 1, it is characterised in that different in the step (1) Wind turbine linear numerical modei formula is under wind speed：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mover> <mi>x</mi> <mo>&CenterDot;</mo> </mover> <mo>=</mo> <mi>A</mi> <mi>x</mi> <mo>+</mo> <mi>B</mi> <mi>u</mi> </mtd> </mtr> <mtr> <mtd> <mi>y</mi> <mo>=</mo> <mi>C</mi> <mi>x</mi> </mtd> </mtr> </mtable> </mfenced>Wherein, A is Wind turbines state matrix, and B is the input coefficient matrix of Wind turbines, and C is the output factor of Wind turbines Matrix, x are the state variable of Wind turbines, and y is the output variable of Wind turbines.
- 3. the method for wind turbine adjustment control parameter according to claim 2, it is characterised in that the mathematical modeling formula can Single-input single-output form is reduced to, wherein input is propeller pitch angle, is exported as generator speed.
- 4. the method for wind turbine adjustment control parameter according to claim 1, it is characterised in that wind turbine in the step (3) Whole response characteristics include control system rise time, overshoot, stabilization time and magnitude margin.
- 5. the method for wind turbine adjustment control parameter according to claim 1, it is characterised in that the step (4) includes： Operating mode is divided by calculating the corresponding characteristic curve related coefficient of two adjacent groups wind speed, the strong correlation refers to that the degree of correlation is big In 0.7.
- 6. a kind of control system using claim 1 to 5 any one of them wind turbine adjustment control parameter method, its feature exists In, including generator speed signal collecting mechanism and pitch control mechanism,The generator connection of the generator speed signal collecting mechanism and Wind turbines, for gathering the rotating speed number of generator According to, and send the rotary speed data collected to pitch control mechanism；The pitch control mechanism for adjusting suitable control parameter, and is counted using wind turbine adjustment control parameter method Calculate and output blade becomes propeller angle.
- 7. control system according to claim 6, it is characterised in that the generator speed signal collecting mechanism includes light Photoelectric coder and rotating speed wave filter, the input terminal of the photoelectric encoder are connected with the generator, its output terminal is filtered with rotating speed The input terminal connection of ripple device, the output terminal of the rotating speed wave filter are connected with pitch control mechanism.
- 8. control system according to claim 7, it is characterised in that the pitch control mechanism includes PI controllers, institute The output terminal that PI controllers are stated with the rotating speed wave filter is connected.
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