CN105986961B - A kind of speed-changing oar-changing wind energy conversion system power optimization control method - Google Patents

A kind of speed-changing oar-changing wind energy conversion system power optimization control method Download PDF

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CN105986961B
CN105986961B CN201610274408.7A CN201610274408A CN105986961B CN 105986961 B CN105986961 B CN 105986961B CN 201610274408 A CN201610274408 A CN 201610274408A CN 105986961 B CN105986961 B CN 105986961B
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wind
speed
controller
pitch
wind speed
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CN105986961A (en
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张文广
李腾飞
韩越
刘吉臻
曾德良
牛玉广
杨婷婷
胡阳
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North China Electric Power University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/028—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0272—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor by measures acting on the electrical generator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0276—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling rotor speed, e.g. variable speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/044—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with PID control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/046—Automatic 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/1016—Purpose of the control system in variable speed operation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/103—Purpose of the control system to affect the output of the engine
    • F05B2270/1033—Power (if explicitly mentioned)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/32—Wind speeds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/70—Type of control algorithm
    • F05B2270/706—Type of control algorithm proportional-integral-differential
    • 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
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
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Abstract

The present invention relates to a kind of speed-changing oar-changing wind energy conversion system power optimization control methods.It is controlled speed-changing oar-changing wind energy conversion system within the scope of entire design wind speed, when wind energy conversion system is run between incision wind speed and rated wind speed, using speed Control mode, at this time by adjusting generator electromagnetic torque, makes wind energy conversion system in optimum efficiency CP maxLower operation.When wind energy conversion system is run on higher than rated wind speed, pitch control device comes into operation, and so that maximum power output is limited in rated value by adjusting propeller pitch angle；Torque controller at this time is that different gains is arranged according to the corresponding tachometer value of different wind regime in Gain-scheduling control device；Greatly reduce the phenomenon that making wind energy conversion system generate very high-power output in a short time due to the influence of fitful wind etc.；Secondly switching law is arranged to pitch control device near specified wind, avoids frequent switching of the pitch control device near specified wind.The present invention extends the service life of gear-box, ensure that the operation of wind energy conversion system in the presence of a harsh environment.

Description

Power optimization control method for variable-speed variable-pitch wind turbine
Technical Field
The invention belongs to the technical field of wind power generation, and particularly relates to a power optimization control method of a variable-speed variable-pitch wind turbine.
Background
In recent decades, development and utilization of renewable energy have been progressing due to practical problems such as energy crisis and environmental pollution. Wind power, which is a clean energy widely existing on the earth, is rapidly developed in recent years in the wind power industry that generates electricity by using wind power. With the increase of installed capacity of wind power generation, the unit performance and the power generation quality are concerned, and higher requirements are put forward on a control system and a method of the wind power generation unit.
The control method of the existing large variable-pitch variable-speed wind turbine mainly adopts a control method combining torque control and variable-pitch control, when the wind speed is lower than the rated wind speed, the wind turbine mainly adopts torque control, the rotating speed of a wind wheel is controlled according to the wind speed, so that the wind turbine basically operates at the optimal tip speed ratio, and the wind energy capture is increased as much as possible; when the wind speed exceeds the rated wind speed, the variable pitch controller is put into use to keep the rotating speed of the wind wheel unchanged, the pitch angle of the blade is increased, the output power is basically changed near the rated power, and the impact of the incoming flow on the wind turbine is reduced.
However, under the influence of extreme wind gusts, the wind turbine set can generate large power output in a short time, and if the existing control system is used, due to the fact that the variable pitch system has a large delay characteristic, the variable pitch speed cannot follow the change of the wind speed, the system can generate large overshoot oscillation, the overspeed phenomenon of the wind turbine can be further caused, and the wind turbine can also generate large load in a short time. In addition, when the wind speed is around the rated wind speed and changes constantly, the wind turbine can be switched frequently between the input and the output of the variable pitch controller, and therefore the service life of relevant parts of the wind turbine can be seriously affected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a power optimization control method of a variable-speed variable-pitch wind turbine.
A power optimization control method for a variable-speed variable-pitch wind turbine comprises the following specific steps:
step 1: after the wind turbine generator set is put into use, initializing a control system and starting to detect the wind speed in front of the wind turbine generator set;
step 2: when the wind speed of the wind turbine during operation does not reach the cut-in wind speed, the torque of the generator is 0, and the wind turbine does not output power;
and step 3: when the wind speed of the wind turbine during operation changes between the cut-in wind speed and the rated wind speed, the torque controller is put into operation, the variable pitch angle theta is kept unchanged, and the torque controller enables the power output P to track the maximum power output PmaxMaximum power output P of a wind turbine at a variation between cut-in wind speed and rated wind speedmaxComprises the following steps:
Pmaxrepresents the maximum power output of the wind turbine, W; rho is air density, kg/m3(ii) a r is the radius of the wind wheel, m; v is wind speed, m/s; theta is a variable pitch angle, rad; mgGenerator torque, kN · m; omegagIs the generator speed, rad/s; omegag＝nωt，ωtIs the wind wheel angular velocity, rad/s;the wind energy utilization coefficient; lambda is the tip speed ratio,
when the wind speed of the wind turbine changes between the cut-in wind speed and the rated wind speed, the generator torque M at the maximum power is maintainedgComprises the following steps:
wherein, KoptIs a constant value, and is determined by the type of the wind turbine:
step 4, when the wind speed of the wind turbine during operation is greater than the rated wind speed and less than the cut-out wind speed, the torque controller and the variable pitch controller are simultaneously put into use, and a correction factor ξ corresponds to the corresponding generator torque:
wherein, omega is the actual rotating speed of the generator, omegarIs the rated speed, omega, of the generatormaxThe maximum rotation speed of the generator;
generator torque M at this timegComprises the following steps:
the maximum power output expression is:
and 5: when the wind speed of the wind turbine during operation is greater than the cut-out wind speed, the brake mechanism of the wind turbine starts to act, the wind turbine stops operating, and the wind turbine cuts out a power grid;
the torque controller is a variable gain controller, and the variable pitch controller is a PID controller.
When the wind speed of the wind turbine is higher than the rated wind speed and lower than the cut-out wind speed, the variable pitch controller is a PID controller with self-adaptive parameters, and the control method is as follows:
step 1: initializing PID controller parameter Kp(θ(k))，Ki(θ(k))；
Step 2: calculating the parameter value of the current PID controller according to the pitch angle change value at the last moment:
Kp(θ(k))＝kp/(G+Δθ(k-1)) (5)
Ki(θ(k))＝ki/(G+Δθ(k-1)) (6)
in the formula, kp，kiRespectively the proportional term and the integral term of the PID controller at the steady state of the system, Kp(θ(k))，Ki(theta (k)) is an adaptive value of the PID controller during system dynamic, delta theta (k-1) is a change value of the pitch angle at the last moment, G is a constant and is generally between 7 and 8;
and step 3: calculating a pitch angle change value of the pitch controller at the current moment:
Δθ＝Kp(θ(k))·(ωg(k-1)-ωg(k))+Ki(θ(k))·(ωg(k-1)-ωrate) (7)
in the formula, delta theta is a pitch angle change value of the pitch controller at the current moment; kp(theta (K)) and Ki(θ (k)) are the adaptive values of the PID controller during system dynamics; omegag(k-1) is the rotating speed value of the generator at the last moment; omegag(k) The current moment is the rotating speed value of the generator; omegarateRated rotating speed of the generator;
and 4, step 4: calculating the output pitch angle of the pitch controller:
θ(k)＝θ(k-1)+Δθ (8)
in the formula, theta (k) is an output value of the variable pitch controller at the current moment; theta (k-1) is an output value of the pitch controller at the last moment; and delta theta is a pitch angle change value of the pitch controller at the current moment.
In order to prevent the pitch controller from being frequently switched near the rated wind speed, the switching rule is set as follows: when the pitch angle change value delta theta (k-1) of the pitch controller at the last moment is smaller than minus 0.1 degrees, enabling the pitch angle change value delta theta of the pitch controller at the current moment to be minus 0.1 degrees; and when the pitch angle change value delta theta (k-1) of the pitch controller at the last moment is greater than 0.1 degrees, enabling the pitch angle change value delta theta of the pitch controller at the current moment to be 0.1 degrees.
The invention has the beneficial effects that: compared with the traditional power optimization tracking method, the wind turbine power generation system adopts a variable speed control mode when the wind speed is lower than the rated wind speed, and the wind turbine is enabled to be at the optimal efficiency C by adjusting the electromagnetic torque of the generatorPmaxThe wind turbine variable-speed variable-pitch wind turbine control system comprises a variable-pitch controller, a correction factor ξ, a wind turbine and the like.
Drawings
FIG. 1 is a control flow chart of a power optimization control method of a variable speed variable pitch wind turbine.
FIG. 2 is a power tracking diagram of a power optimization control method of a variable speed variable pitch wind turbine.
FIG. 3 shows the simulation results of a 5WM reference wind turbine under the turbulent wind with the wind condition of 11.4m/s by using the optimal control method of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
As shown in fig. 1, a power optimization control method for a variable speed and variable pitch wind turbine includes the following specific steps:
step 1: after the wind turbine generator set is put into use, initializing a control system and starting to detect the wind speed in front of the wind turbine generator set;
step 2: when the wind speed of the wind turbine during operation does not reach the cut-in wind speed, the torque of the generator is 0, and the wind turbine does not output power;
and step 3: when the wind speed of the wind turbine during operation changes between the cut-in wind speed and the rated wind speed, the torque controller is put into operation; the pitch angle theta is kept constant, and the torque controller enables the power output P to track the maximum power output PmaxMaximum power output P of a wind turbine at a variation between cut-in wind speed and rated wind speedmaxComprises the following steps:
Pmaxrepresents the maximum power output of the wind turbine, W; rho is air density, kg/m3(ii) a r is the radius of the wind wheel, m; v is wind speed, m/s; theta is a variable pitch angle, rad; mgGenerator torque, kNm; omegagIs the generator speed, rad/s; omegag＝nωt，ωtIs the wind wheel angular velocity, rad/s;the wind energy utilization coefficient; lambda is the tip speed ratio,
when the wind speed of the wind turbine changes between the cut-in wind speed and the rated wind speed, the generator torque M at the maximum power is maintainedgComprises the following steps:
wherein,
and 4, step 4: when the wind speed of the wind turbine is higher than the rated wind speed and lower than the cut-out wind speed, the torque controller and the variable pitch controller are simultaneously put into use, wherein the torque controller is a variable gain controller, the variable pitch controller is a PID controller with adaptive parameters, and the control method comprises the following steps:
step 1: initializing PID controller parameter Kp(θ(k))，Ki(θ(k))；
Step 2: calculating the parameter value of the current PID controller according to the pitch angle change value at the last moment:
Kp(θ(k))＝kp/(G+Δθ(k-1)) (5)
Ki(θ(k))＝ki/(G+Δθ(k-1)) (6)
in the formula, kp，kiRespectively the proportional term and the integral term of the PID controller at the steady state of the system, Kp(θ(k))，Ki(theta (k)) is an adaptive value of the PID controller during system dynamic, delta theta (k-1) is a change value of the pitch angle at the last moment, G is a constant and is generally between 7 and 8;
and step 3: calculating a pitch angle change value of the pitch controller at the current moment:
Δθ＝Kp(θ(k))·(ωg(k-1)-ωg(k))+Ki(θ(k))·(ωg(k-1)-ωrate) (7)
in the formula, delta theta is a pitch angle change value of the pitch controller at the current moment; kp(theta (K)) and Ki(θ (k)) are the adaptive values of the PID controller during system dynamics; omegag(k-1) is the rotating speed value of the generator at the last moment; omegag(k) The current moment is the rotating speed value of the generator; omegarateRated rotating speed of the generator;
and 4, step 4: calculating the output pitch angle of the pitch controller:
θ(k)＝θ(k-1)+Δθ (8)
in the formula, theta (k) is an output value of the variable pitch controller at the current moment; theta (k-1) is an output value of the pitch controller at the last moment; and delta theta is a pitch angle change value of the pitch controller at the current moment.
In order to prevent the pitch controller from being frequently switched near the rated wind speed, the switching rule is set as follows: when the pitch angle change value delta theta (k-1) of the pitch controller at the last moment is smaller than minus 0.1 degrees, enabling the pitch angle change value delta theta of the pitch controller at the current moment to be minus 0.1 degrees; and when the pitch angle change value delta theta (k-1) of the pitch controller at the last moment is greater than 0.1 degrees, enabling the pitch angle change value delta theta of the pitch controller at the current moment to be 0.1 degrees.
One correction factor ξ for the respective generator torque:
wherein, omega is the actual rotating speed of the generator, omegarIs the rated speed, omega, of the generatormaxThe maximum rotation speed of the generator;
generator torque M at this timegComprises the following steps:
the maximum power output expression is:
and 5: when the wind speed of the wind turbine during operation is greater than the cut-out wind speed, the brake mechanism of the wind turbine starts to act, the wind turbine stops operating, and the wind turbine is cut out of the power grid.
FIG. 2 shows a power tracking diagram of a power optimization control method for a variable speed variable pitch wind turbine. When the wind speed is lower than the rated wind speed, a variable speed control mode is adopted, and the electromagnetic torque of the generator is adjusted to ensure that the wind turbine has the optimal efficiency CPmaxRunning the furnace; when the wind speed is higher than the rated wind speed, the variable pitch controller is put into use, and the maximum power output is limited to the rated value by adjusting the pitch angle. FIG. 3 shows the simulation result of the 5WM wind turbine under the condition of turbulent wind with the wind condition of 11.4m/s, and the optimization method of the present invention can reduce the dynamic overshoot of power obviously, such as around 150s, greatly reduce the power output of the wind turbine in short time and stabilize the power output.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (2)

1. A power optimization control method for a variable-speed variable-pitch wind turbine is characterized by comprising the following specific steps:
step 1: after the wind turbine generator set is put into use, initializing a control system and starting to detect the wind speed in front of the wind turbine generator set;
step 2: when the wind speed of the wind turbine during operation does not reach the cut-in wind speed, the torque of the generator is 0, and the wind turbine does not output power;
and step 3: when the wind speed of the wind turbine changes between the cut-in wind speed and the rated wind speed, the torque controller is put into operation, and the variable pitch angle theta is ensuredThe torque controller should make the power output P track the maximum power output PmaxMaximum power output P of a wind turbine at a variation between cut-in wind speed and rated wind speedmaxComprises the following steps:
Pmaxrepresents the maximum power output of the wind turbine, W; rho is air density, kg/m3(ii) a r is the radius of the wind wheel, m; v is wind speed, m/s; theta is a variable pitch angle, rad; mgGenerator torque, kNm; omegagIs the generator speed, rad/s; omegag＝nωt，ωtIs the wind wheel angular velocity, rad/s;the wind energy utilization coefficient; lambda is the tip speed ratio,
when the wind speed of the wind turbine changes between the cut-in wind speed and the rated wind speed, the generator torque M at the maximum power is maintainedgComprises the following steps:
wherein,
step 4, when the wind speed of the wind turbine during operation is greater than the rated wind speed and less than the cut-out wind speed, the torque controller and the variable pitch controller are simultaneously put into use, and a correction factor ξ corresponds to the corresponding generator torque:
wherein, omega is the actual rotating speed of the generator，ωrIs the rated speed, omega, of the generatormaxThe maximum rotation speed of the generator;
generator torque M at this timegComprises the following steps:
the maximum power output expression is:
and 5: when the wind speed of the wind turbine during operation is greater than the cut-out wind speed, the brake mechanism of the wind turbine starts to act, the wind turbine stops operating, and the wind turbine cuts out a power grid;
the torque controller is a variable gain controller, and the variable pitch controller is a PID controller;
when the wind speed of the wind turbine is higher than the rated wind speed and lower than the cut-out wind speed, the variable pitch controller is a PID controller with self-adaptive parameters, and the control method is as follows:
step 41: initializing PID controller parameter Kp(θ(k))，Ki(θ(k))；
Step 42: calculating the parameter value of the current PID controller according to the pitch angle change value at the last moment:
Kp(θ(k))＝kp/(G+Δθ(k-1)) (5)
Ki(θ(k))＝ki/(G+Δθ(k-1)) (6)
in the formula, kp，kiRespectively the proportional term and the integral term of the PID controller at the steady state of the system, Kp(θ(k))，Ki(theta (k)) is an adaptive value of the PID controller during system dynamic, delta theta (k-1) is a change value of the pitch angle at the last moment, G is a constant and is generally between 7 and 8;
step 43: calculating a pitch angle change value of the pitch controller at the current moment:
Δθ＝Kp(θ(k))(ωg(k-1)-ωg(k))+Ki(θ(k))·(ωg(k-1)-ωrate) (7)
in the formula, delta theta is a pitch angle change value of the pitch controller at the current moment; kp(theta (K)) and Ki(θ (k)) are the adaptive values of the PID controller during system dynamics; omegag(k-1) is the rotating speed value of the generator at the last moment; omegag(k) The current moment is the rotating speed value of the generator; omegarateRated rotating speed of the generator;
step 44: calculating the output pitch angle of the pitch controller:
θ(k)＝θ(k-1)+Δθ (8)
in the formula, theta (k) is an output value of the variable pitch controller at the current moment; theta (k-1) is an output value of the pitch controller at the last moment; and delta theta is a pitch angle change value of the pitch controller at the current moment.
2. The power optimization control method of the variable speed variable pitch wind turbine according to claim 1, wherein in order to prevent the pitch controller from frequently switching around the rated wind speed, the switching rule is set as follows: when the pitch angle change value delta theta (k-1) of the pitch controller at the last moment is smaller than minus 0.1 degrees, enabling the pitch angle change value delta theta of the pitch controller at the current moment to be minus 0.1 degrees; and when the pitch angle change value delta theta (k-1) of the pitch controller at the last moment is greater than 0.1 degrees, enabling the pitch angle change value delta theta of the pitch controller at the current moment to be 0.1 degrees.
CN201610274408.7A 2016-04-28 2016-04-28 A kind of speed-changing oar-changing wind energy conversion system power optimization control method Expired - Fee Related CN105986961B (en)

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