Wind turbines feather method for handover control
Technical field
The present invention relates to the automatic control technology field of Wind turbines, specifically a kind of Wind turbines feather method for handover control.
Background technique
The wind power generating set overwhelming majority has variable blade control system, and the task of variable blade control system is maintained near generator speed desired value generator speed actual value.The regulating power of current many wind energy turbine set variable-pitch control systems is not enough, often causes generator speed actual value frequently to exceed the maximum value of generator speed permission when running into fitful wind near rated wind speed, and then by forced-stopping machine.In order to overcome the problem of generator hypervelocity, a kind of existing way becomes oar in advance, namely just start to start variable pitch control when actual wind speed not yet arrives rated wind speed, although generator can be avoided to exceed the speed limit, the generated output that when can cause below rated wind speed, loss is larger simultaneously.
As shown in Figure 1, Variable-pitch Controller is the core of variable-pitch control system to the working principle of variable-pitch control system, and it comprises change oar PI controller module and becomes oar instruction speed limit module two modules.Become the deviation of oar PI controller module according to generator speed desired value and generator speed actual value, calculate and become propeller angle instruction, become propeller angle instruction after becoming oar instruction speed limit module speed limit, be transported to feather actuator, feather actuator adjusts the absorptivity of blade to wind energy by regulating blade angle, and then the actual value of adjustment generator speed, the actual value of generator speed is maintained near generator speed desired value as far as possible.
Summary of the invention
The present invention is the problem solving above-mentioned Wind turbines generator hypervelocity, provides a kind of Wind turbines feather method for handover control.
For achieving the above object, the invention provides following technological scheme:
A kind of Wind turbines feather method for handover control, comprises the process of measuring wind speed signal data, the absolute value of wind speed variance ratio calculates and self adaptive control calculation of parameter, be specifically made up of following steps:
(1) collect measuring wind speed signal, be labeled as V (t), t represents current time; Measuring wind speed signal V (t) is obtained to collection and carries out filtering, obtain filtered measuring wind speed signal, be labeled as V
f(t);
(2) according to the filtered measuring wind speed signal V that step (1) obtains
ft (), the variance ratio of the measuring wind speed signal after calculation of filtered, is labeled as V
d, formula is as shown in formula (1):
Formula (1)
Wherein V
f(t-1) be the filtered measuring wind speed signal in a upper moment, Ts is the sampling time;
(3) absolute value of the variance ratio of filtered measuring wind speed signal that obtains of calculation procedure (2), namely | V
d|;
(4) basis | V
d| with the filtered measuring wind speed signal V that step (1) obtains
ft () calculates PI controller parameter K
cand T
i, K
cand T
ibe respectively PI controller scale parameter and intergration time parameter, the computational methods of these two parameters are:
(4.1) K of PI controller is determined
cand T
idefault value under non-fitful wind wind regime, is labeled as K
c0and T
i0;
(4.2) determine the threshold values of the absolute value of wind speed variance ratio, be labeled as V
d0if, | V
d| be greater than V
d0, then assert that current wind regime is fitful wind, otherwise assert that current wind regime is non-fitful wind;
(4.3) the concrete wind speed range (V near rated wind speed is determined
1, V
2),
(4.4) if V (t) < is V
1or V (t) > V
2or | V
d| < V
d0, then K
c=K
c0, T
i=T
i0;
Otherwise
So, two parameters of PI controller are self-adaptative adjustment with the change of wind speed variance ratio, if run into the situation of fitful wind, the adjustment capability of PI controller is strengthened along with the increase of wind speed variance ratio;
(5) obtain according to step (4) | V
d| with the wind speed range (V determined in step (1)
1, V
2) and the middle speed limit collected in measuring wind speed signal V (t) the calculating change oar instruction speed limit module obtained of step (1), assuming that speed limit is labeled as Pitch_rate_lim, then Pitch_rate_lim computational methods are:
(5.1) determine to become the default value of speed limit under non-fitful wind wind regime in oar instruction speed limit module, be labeled as Pitch_rate_lim0;
(5.2) if V (t) < is V
1or V (t) > V
2or | V
d| < V
d0, then
Pitch_rate_lim=Pitch_rate_lim0;
Otherwise,
So, the speed limit in change oar instruction speed limit module is self-adaptative adjustment with the change of wind speed variance ratio, if run into the situation of fitful wind, the speed limit become in oar instruction speed limit module increases along with the increase of wind speed variance ratio.
By two parameters of PI controller calculated in step (4) and step (5), and the speed limit become in oar instruction speed limit module is sent to the PI controller of variable blade control system respectively and becomes oar instruction speed limit module.
As the further scheme of the present invention: in step (1), filtering adopts a high-order model:
wherein, τ
fbe time constant filter, N is filtering order, and s is the laplace transformation factor of complex frequency domain.
As the further scheme of the present invention: wind speed range (V
1, V
2) be taken as the 70%-120% of generator set rated wind speed.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention can realize automation completely, measuring wind speed signal data is collected automatically, then the self-adaptation control method that the present invention proposes is used, whether automatic decision Wind turbines is in the fitful wind wind regime near rated wind speed, further according to PI controller parameter and the speed limit become in oar instruction speed limit module of the change self-adaptative adjustment variable blade control system of wind speed variance ratio.The present invention can strengthen the adjustment capability of variable blade control system, effectively prevents Wind turbines because generator hypervelocity causes Wind turbines to be shut down near rated wind speed, and without the need to becoming oar in advance, Wind turbines can not be caused in the following generated output loss of rated wind speed.
Accompanying drawing explanation
Fig. 1 is variable blade control system fundamental diagram;
Fig. 2 is the self-adaptation control method flow chart of paddle change system of wind turbines.
Embodiment
Below in conjunction with the embodiment of the present invention, be clearly and completely described the technological 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.
Embodiment 1
Refer to Fig. 2, in the embodiment of the present invention, a kind of Wind turbines feather method for handover control, comprise the process of measuring wind speed signal data, wind speed variance ratio absolute value calculate and self adaptive control calculation of parameter three part.
The process of measuring wind speed signal data comprises: first, online collection measuring wind speed signal; Secondly, device 1/ (τ after filtering
fs+1)
nafter obtain filtered measuring wind speed signal.
The absolute value of wind speed variance ratio calculates and comprises: first, the variance ratio of the measuring wind speed signal after derivative unit calculation of filtered; Secondly, the absolute value of the variance ratio of the measuring wind speed signal after calculation of filtered.
Self adaptive control calculation of parameter is the parameter calculating PI controller according to the absolute value of the variance ratio of filtered measuring wind speed signal, filtered measuring wind speed signal and the speed limit become in oar instruction speed limit module.Embodiment is as follows: first, determines the default value of two parameters under non-fitful wind wind regime of PI controller; Secondly, the threshold values of the absolute value of wind speed variance ratio is determined; Again, the concrete wind speed range near rated wind speed is determined; Finally, the parameter of self-adaptative adjustment PI controller and the speed limit in change oar instruction speed limit module.
Here is a concrete test example, and the power of completely sending out of Wind turbines is 1.5MW, and rated wind speed is 10m/s.Concrete steps are as follows:
(1) online data of collecting measuring wind speed signal, have collected 1 hour data, 1 minute sampling time altogether;
(2) having calculated filtered measuring wind speed signal is 11m/s, and the variance ratio of filtered measuring wind speed signal is-3m/s
2;
(3) absolute value calculating the variance ratio of filtered measuring wind speed signal is 3m/s
2;
(4) K of PI controller is determined
cand T
iunder non-fitful wind wind regime, get 1.2 and 0.08 respectively, determine that the threshold values of the absolute value of wind speed variance ratio is 2m/s
2, the m/s that determines that the concrete wind speed range near rated wind speed is (7,12);
(5) due to the absolute value 3m/s of the variance ratio of filtered measuring wind speed signal
2be greater than threshold values 2m/s
2, and filtered measuring wind speed signal 11m/s is within interval (7,12) m/s, the parameter therefore calculating current PI controller is respectively
(6) determine that the default value of speed limit under non-fitful wind wind regime become in oar instruction speed limit module is 6deg/s, due to the absolute value 3m/s of the variance ratio of filtered measuring wind speed signal
2be greater than threshold values 2m/s
2, and filtered measuring wind speed signal 11m/s is within interval (7,12) m/s, the speed limit therefore calculated in current change oar instruction speed limit module is
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.
In addition, be to be understood that, although this specification is described according to mode of execution, but not each mode of execution only comprises an independently technological scheme, this narrating mode of specification is only for clarity sake, those skilled in the art should by specification integrally, and the technological scheme in each embodiment also through appropriately combined, can form other mode of executions that it will be appreciated by those skilled in the art that.