CN105402087A - Variable pitch switching control method for wind generator unit - Google Patents

Variable pitch switching control method for wind generator unit Download PDF

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Publication number
CN105402087A
CN105402087A CN201510959190.4A CN201510959190A CN105402087A CN 105402087 A CN105402087 A CN 105402087A CN 201510959190 A CN201510959190 A CN 201510959190A CN 105402087 A CN105402087 A CN 105402087A
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China
Prior art keywords
wind
wind speed
speed
speed signal
filtered
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CN201510959190.4A
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Chinese (zh)
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CN105402087B (en
Inventor
余真鹏
陈新
周雪梅
宋强
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Datang Shandong Yantai Electric Power Development Co., Ltd.
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China Datang Corp Science and Technology Research Institute Co Ltd
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D7/00Controlling wind motors
    • F03D7/02Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022Adjusting aerodynamic properties of the blades
    • F03D7/0224Adjusting blade pitch
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D7/00Controlling wind motors
    • F03D7/02Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04Automatic control; Regulation
    • F03D7/042Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/046Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with learning or adaptive control, e.g. self-tuning, fuzzy logic or neural network
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05BINDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00Control
    • F05B2270/10Purpose of the control system
    • F05B2270/101Purpose of the control system to control rotational speed (n)
    • F05B2270/1011Purpose of the control system to control rotational speed (n) to prevent overspeed
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05BINDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00Control
    • F05B2270/30Control parameters, e.g. input parameters
    • F05B2270/309Rate of change of parameters
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05BINDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00Control
    • F05B2270/30Control parameters, e.g. input parameters
    • F05B2270/32Wind speeds
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/70Wind energy
    • Y02E10/72Wind turbines with rotation axis in wind direction

Abstract

The invention discloses a variable pitch switching control method for a wind generator unit. The variable pitch switching control method comprises the steps of processing wind speed measurement signal data, calculating the absolute value of wind speed change rates and calculating self-adaptation control parameters. Firstly wind speed measurement signals are collected and filtered, the change rates of the filtered wind speed measurement signals and the absolute value of the change rates are calculated, then the proportion parameter and the integral time parameter of a proportional integral (PI) controller are calculated, and the speed limit value of a variable pitch order speed limit module is calculated. According to the variable pitch switching control method, the adjustment capacity of a variable pitch control system can be enhanced, the phenomenon that because the speed of generators exceeds the largest value when the speed of the wind generator unit is close to the rated wind speed, the wind generator unit stops can be effectively prevented, pitch change does not need to be carried out in advance, the loss of generation power is avoided when the speed of the wind generator unit is smaller than the rated wind speed, and the generation power of the wind generator unit with the speed close to the rated wind speed can be guaranteed.

Description

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):
V d = V f ( t ) - V f ( t - 1 ) T s 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 K c = | V d | V d 0 K c 0 , T i = | V d | V d 0 T i 0 ,
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, P i t c h _ r a t e _ lim = | V d | V d 0 P i t c h _ r a t e _ lim 0.
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 K c = 3 2 &times; 1.2 = 1.8 , T i = 3 2 &times; 0.08 = 0.12 ;
(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 P i t c h _ r a t e _ lim = 3 2 &times; 6 = 9 deg / m .
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.

Claims (3)

1. a Wind turbines feather method for handover control, is characterized in that, comprise the process of measuring wind speed signal data, wind speed variance ratio absolute value calculate 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):
V d = V f ( t ) - V f ( 1 - 1 ) T s 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 K c = | V d | V d 0 K c 0 , T i = | V d | V d 0 T i 0 ;
(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, P i t c h _ r a t e _ lim = | V d | V d 0 P i t c h _ r a t e _ lim 0.
2. Wind turbines feather method for handover control according to claim 1, is characterized in that, 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.
3. Wind turbines feather method for handover control according to claim 1, is characterized in that, wind speed range (V 1, V 2) be taken as the 70%-120% of generator set rated wind speed.
CN201510959190.4A 2015-12-18 2015-12-18 Wind turbines feather method for handover control Expired - Fee Related CN105402087B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106762405A (en) * 2017-01-12 2017-05-31 中车株洲电力机车研究所有限公司 A kind of control method and device that can suppress wind power generating set hypervelocity
CN107781105A (en) * 2016-08-31 2018-03-09 北京天诚同创电气有限公司 The pitch control method and device of wind-driven generator

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040145188A1 (en) * 2003-01-24 2004-07-29 Wilhelm Janssen Low voltage ride through for wind turbine generators
CN101660489A (en) * 2009-09-23 2010-03-03 南京盛唐电力控制系统有限公司 Megawatt wind generating set combination control policy
CN101846037A (en) * 2009-03-18 2010-09-29 通用电气公司 Wind turbine operation system and method
CN104716669A (en) * 2015-03-31 2015-06-17 许昌学院 Converter dual-mode control method for permanent magnet synchronous wind power system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040145188A1 (en) * 2003-01-24 2004-07-29 Wilhelm Janssen Low voltage ride through for wind turbine generators
CN101846037A (en) * 2009-03-18 2010-09-29 通用电气公司 Wind turbine operation system and method
CN101660489A (en) * 2009-09-23 2010-03-03 南京盛唐电力控制系统有限公司 Megawatt wind generating set combination control policy
CN104716669A (en) * 2015-03-31 2015-06-17 许昌学院 Converter dual-mode control method for permanent magnet synchronous wind power system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107781105A (en) * 2016-08-31 2018-03-09 北京天诚同创电气有限公司 The pitch control method and device of wind-driven generator
CN107781105B (en) * 2016-08-31 2019-05-07 北京天诚同创电气有限公司 The pitch control method and device of wind-driven generator
CN106762405A (en) * 2017-01-12 2017-05-31 中车株洲电力机车研究所有限公司 A kind of control method and device that can suppress wind power generating set hypervelocity

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