CN106014877B - Wind generator system multi-fault Diagnosis and faults-tolerant control - Google Patents
Wind generator system multi-fault Diagnosis and faults-tolerant control Download PDFInfo
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- 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
- F05B2260/00—Function
- F05B2260/80—Diagnostics
Abstract
The invention discloses a kind of multi-fault Diagnosis of wind generator system and fault tolerant control methods, and the Global fuzzy model of wind generator system is established first with T-S fuzzy algorithmic approach；The characteristics of using sensor hardware redundancy technology combination actuator failures, sensor fault is converted by actuator failures, establish multi-fault Diagnosis logical table, realizes multiple-fault classifier；Secondly filter is introduced, actuator failures is converted by sensor fault, establishes virtual execution device failure, two kinds of failures are realized by the reconstruct to virtual execution device failure while being reconstructed；The input of controller is corrected based on failure reconfiguration value with output finally, realizes active tolerant control.Its advantage is that the diagnosis and reconstruct of wind generator system that this method can be achieved at the same time actuator and sensor failures and deposit, real-time online obtains accurate fault message, faults-tolerant control is carried out, the ability of system processing unknown failure is enhanced, improves the wind energy conversion efficiency under failure.
Description
Technical field
The present invention relates to a kind of multi-fault Diagnosis of wind generator system and faults-tolerant controls, real-time online based on FDD unit
The accurate fault message obtained carries out active tolerant control to failure.
Background technique
The wind-powered electricity generation energy is renewable energy with fastest developing speed in the world, and it is indispensable to have become solution energy issue of world
Important force.Wind power plant is normally at high mountain or the remote field far from seashore, and climate change is unpredictable, at this
In severe, the complicated working environment of sample height, actuator, sensor fault occur frequent.
Wind generator system internal structure is complicated, and component is numerous, and wherein executing agency is the most complicated, including power train
The load of system, electricity generation system, yaw system and hydraulic system etc., carrying is maximum, the maximum probability to break down, to the peace of system
Full reliability effect is also maximum.It is simultaneously safeguards system reliability service, internal system needs to install multiple sensors, as far as possible will
Comprehensive data transmission is to data acquisition module, and by data acquisition module by these data transmissions to master control system, through excessive
After analysis and processing, relevant control instruction is issued, if these sensor failures, will have a direct impact on the operation of system, especially
, if the output signal of fault sensor is fed back in system controller, it is even out of control to will lead to system performance reduction.Thus
Real-time fault diagnosis is carried out to wind generator system, implements effective faults-tolerant control to ensure the reliability gesture of wind generator system
It must go.
Important support technology one of of the fault diagnosis as active tolerant control enhances the energy of system processing unknown failure
Power, but can only judge whether system breaks down, strong supplement of the failure reconfiguration as fault diagnosis, realize fault detection and
While separation, the information such as failure size and time of origin can be obtained, to take effective faults-tolerant control measure to eliminate failure to being
The influence of system provides more fully foundation.
At present research mostly both under wind generator system single-sensor or actuator failures diagnosis with it is fault-tolerant
Control, with the continuous improvement of automatization level, wind generator system increasingly tends to complicate, and there is a situation where also multiple for failure
Miscellaneous changeable, single-sensor or actuator failures probability of happening are lower in real system, and research has significant limitations.Wind simultaneously
Power power-generating control system relies heavily on actuator, sensor and data-query interfaces to ensure that controlled system and control fill
There is suitable interaction between setting.Thus actuator and sensor failures often exist simultaneously in system, to multiple faults
It diagnoses more with practical value with faults-tolerant control.Therefore herein on the basis of multiple-fault classifier, to actuator failures and sensor
Failure is carried out while being reconstructed, and provides sufficient real time fail information for system, reduces system failure rate by Fault Tolerance Control Technology,
Reduce the maintenance of equipment time, guarantee system still is able to the stable operation in certain indication range under failure, improves under failure
Wind energy utilization efficiency.
Summary of the invention
The purpose of the present invention is for the actuator and the simultaneous situation of sensor in wind generator system, design one
Kind of multi-fault Diagnosis strategy and fault tolerant control method are used to handle the wind generator system under multiple faults, guarantee system failure without
System can also maintain satisfied performance indicator when method obtains on-call maintenance, realize that wind energy maximum captures under failure.
According to the technical method that invention provides, the wind generator system multi-fault Diagnosis includes following with faults-tolerant control
Step: step 1: establishing the state equation of wind generator system
The power generation process of double-fed wind-energy changing system is to convert wind energy into mechanical energy, then be converted to electric energy by mechanical energy
Process, in this process, the process of wind turbine capture electric energy is key, it directly determines the conversion effect of wind-energy changing system
Rate.
Mechanical output, pneumatic torque power coefficient and tip speed ratio expression hereby theoretical according to shellfish, that wind turbine generates
Formula is
Cp(λ, β)=λ CΓ(λ,β)(3)
In formula, PwtFor the capture power of wind energy conversion system, ΓwtFor wind mill wind wheel output torque, CΓ(λ, β) is wind energy conversion system
Torque coefficient, CP(λ, β) is power coefficient, and λ is the tip speed ratio of wind energy conversion system, and β is propeller pitch angle, and R is that pneumatic equipment bladess are long
Degree, ρ is atmospheric density, and v is wind speed, ΩlFor wind wheel angular speed.
Ignore some dynamic characteristics in model, since electromagnetic time constant is less than mechanical time constant, in system modelling
When negligible generator electromagnetic response dynamic process, then wind-energy changing system dynamical state equation can be expressed as follows:
In formula,C=[10],x(t)∈RnFor shape
State vector, u (t) ∈ RmFor input vector, y (t) ∈ RpFor output vector, A' ∈ Rn×n, B ∈ Rn×n, C ∈ Rn×nRespectively system
Matrix, ΩhFor the revolving speed of high speed shaft, ΓGFor the electromagnetic torque of generator,For electromagnetic torque reference value, i is the speed change of gear
Than TGFor electromagnetic time constant, JtTurn inertia for high speed shaft.
Pitch is fixed when below rated wind speed, it may be assumed that
Inputting from the control of system known to the state equation (5) of wind-energy changing system is electromagnetic torque reference value, and system
Matrix A ' in elements A11It is with state variable ΩhChange, so wind-energy changing system has strong nonlinear characteristic.
Step 2: establishing wind generator system overall situation T-S fuzzy model
It carries out T-S to wind generator system to obscure, definition former piece fuzzy variable is z1(t)=v, z2(t)=Ωh(t), then
Matrix A can be write as new model A (z in system (1)1(t),z2(t)).Take v1≤min(v)≤max(v)≤vm, Ωh1≤min
(Ωh)≤max(Ωh)≤Ωhm.In section [v1,vm] on take m-2 point, and in section [Ωh1,Ωhm] on also take n-2
Two sequences being made of several former piece fuzzy variable values then can be obtained in point:
In formula, i=1,2,…,m,j=1,2 ..., n.
According to Taylor's formula, wind torque variable is obtained in (vi,Ωhi) at linear representation are as follows:
In formula,For torque parameter,
Formula (8) are substituted into formula (5), and by sequence Z1And Z2Middle element matches each other, instead of sytem matrix A (z1(t),z2
(t)) z in1(t) and z2(t), a series of constant value matrix A can be obtainedij, i=1,2 ..., m, j=1,2 ..., n further may be used
Obtain the Local Linear Model of i-th of subsystem are as follows:
The fuzzy rule for defining T-S fuzzy model is as follows:
In formula, RiFor i-th fuzzy rule, zj(j=1,2) is former piece fuzzy variable, MijFor fuzzy subset, i=1,
2 ..., r, r are fuzzy rule sum.
Ambiguity in definition weight are as follows:
In formula, i=1,2 ..., r, Mij(zjIt (t)) is former piece fuzzy variable zj(t) corresponding under i-th fuzzy rule
Subordinating degree function, and the subordinating degree function of two fuzzy subsets is all made of trigonometric function, and
The then global state equation of actuator and the wind generator system T-S fuzzy model under sensor are as follows:
In formula,faIndicate actuator failures, D is actuator event
Hinder allocation matrix, fsIndicate that sensor fault, F are sensor fault allocation matrix.
Step 3: wind generator system multi-fault Diagnosis strategy
High speed shaft revolving speed Ω is exported in system using hardware redundancy technologyhInstall two duplicate turn in the position of signal
Fast sensor is denoted as Ω for measuring high speed shaft revolving speedh,m1And Ωh,m2, i=1,2.When system is without sensor fault, Ωh,m1
=Ωh,m2=Ωh；When sensor fault occurs for system, this signal becomes Ωh,m1=Ωh+ΔΩh,m1, Ωh,m2=Ωh+
ΔΩh,m2.Wherein, additional Δ Ωh,m1With Δ Ωh,m2Indicate the failure that speed probe 1 and speed probe 2 may occur
Value.The possible source of actuator failures in wind generator system mainly has: the flank of tooth mill in transmission system middle gear case, bearing
The partial failures such as damage, fatigue and bearing deformation；In system for rotating oil liquid leakage it is excessive, oily in air content is higher and stop valve loses
Effect etc., these failures can be modeled as the deviation of parameter.
Wind generator system fault diagnosis: can be by comparing the measurement between two same type of sensors of same position
Value, Lai Shixian fault diagnosis purpose.Difference between this two signals can directly show the generation of failure, for example, if | |
Ωh,m1-Ωh,m2| | it is not equal to 0 in a certain period of time, then illustrates system jam.
After the completion of fault detection, judge system jam, further work be exactly find which sensor or
Actuator breaks down.High speed shaft speed estimate can be accurately obtained by T-S fuzzy-sliding-mode observer designed by a upper chapter
ValueIts all very close actual value before and after the generation of any sensor fault.Since actuator failures are internal system failures,
It will lead to the variation of system relevant parameter, finally will affect the output of system, therefore it can be considered as sensor fault, and
Will lead between the measured value and system normal output values of two sensors has deviation.NoteWith
Make residual signals, then system fault diagnosis strategy specifically describes are as follows: when 1 failure of sensor, r1≠ 0, r2≈0；When sensor 2
When failure, r1≈ 0, r2≠0；When actuator failures, r1≠ 0, r2≠0。
Step 4: actuator and sensor failures reconstruct simultaneously
Due to the increasing substantially of blower automatization level, structure is complicated for internal system, fault type is numerous, and wind-force
Electricity generation system relies heavily on actuator, sensing and data query/interface to ensure to have conjunction between controlled system and control device
Suitable interaction, thus the reconstruct simultaneously of sensor and actuator failure more has practical value and significance
Consider sensor fault and the simultaneous system of actuator failures (12), it is assumed that system (12), which meets, isAnd the constant zero point of system is stable.System (12) obtain such as down conversion:
With orthogonal matrix TRMultiplied by the system output matrix in formula (12), output equation can be decomposed into without containing sensor
Failure (y1) and contain sensor fault (y2) two measurement equations:
In order to realize to two kinds of failures while reconstruct, using following conversion thinking, an effective method is exactly to introduce
Filter defines one group of new state variable z (t) as the output y containing sensor fault2(t) filtered signal, such as formula
(15):
In formula, AfFor a stationary filtering matrix.
Joint type (12) to (15) can obtain
Consideration formula (16), (17), then wind generator system can indicate again are as follows:
ya(t)=Caxa(t) (19)
In formula,It indicates
Empty actuator failures vector, is also norm-bounded, i.e., η0Just for one
Constant, xa(t)=[x (t)T z(t)T]TFor the system state variables after coordinate transform.
Pass through the above-mentioned transformation to system (12), it can be seen that do not contained biography in transformed new system (18), (19)
Sensor failure, but sensor fault and actuator failures are all become into actuator failures and are handled.Therefore phase need to only be designed
The sliding formwork Failure Observer answered combines output injection of equal value theoretical, can obtain virtual faults reconstruction valueSo far two kinds of failure fs
(t)、fa(t) reconstruction is addressed while.
The design process of brief description wind generator system active tolerant control device:
The existence condition of T-S fuzzy-sliding-mode observer:
(1)rank(CaM)=rank (M)；
(2)(Aa,M,Ca) constant zero point be stable.
The form for designing wind generator system sliding mode observer is as follows:
In formula, ρ is correction factor (gain), is determined by failure amplitude.Gl, GnIt is Robust Sliding Mode Observer to alignment
Property feedback matrix and nonlinear feedback matrix.Sliding mode control strategy v is designed in order to ensure sliding formwork movementρ, i.e.,
Definition status evaluated error isOutput error is
Assumed condition 1 meets, then there is a linear transformation battle array T, so that (Aa,M,Ca) become the form of formula ():
In formula, T is an orthogonal matrix,M0It is a non-singular matrix, (Aa22,Aa31) it is completely observable.
By formula (18)-(19) and (20)-(21) can systematic error dynamical equation are as follows:
In formula, Aa0=Aa-GlCa.Observer matrix can be taken asL=[L1 0]。
Exporting dynamic error is
When sliding formwork moves toDiscontinuous term can be expressed as follows
vρ=-(CaGn)-1(CaAa0e(t)-CaMfas(t)) (26)
Then
E (t)=(I-Gn(CaGn)-1Ca)Aaoe(t)-CaM fas(t) (27)
In formula,
In order to realize that actuator and sensor failures reconstruct simultaneously using designed sliding mode observer, linear coordinate is defined
Transformation: TL:e→eL, takeThen matrix (Aa,M,Ca) translate into following form:
In formula, Aa1L=Aa1+LAa3, M2L=TM2It is all non-singular matrix, non-linear gain matrix meets Liapunov side
Journey and, can use GnL=[0 Ip]T
Under this coordinate transform, the state and output bias equation of system are as follows:
Assuming that sliding formwork moves to,Aa1LIt is stable, then ea1(t)→0。
Therefore, it can obtain
The then reconstruction value of unknown failure vector are as follows:
Similarly discontinuous term is indicated using continuous function
In formula, σ is the lesser scalar of value the precision that guarantees failure reconfiguration.
Here the stability and state of observer sliding-mode surface is reached in finite time can be by establishing Liapunov letter
Number is proved that observer gain matrix can be sent out by POLE PLACEMENT USING and be solved.Equally using given failure reconfiguration
Error threshold judges failure reconfiguration precision.
Step 5: the faults-tolerant control of wind generator system
It is theoretical by above failure reconfiguration, the information such as fault waveform, amplitude can be obtained in real time, are avoided generation and are commented
The complexity of valence residual signals.Therefore sensor fault reconstruction approach base value is utilizedTo sensor fault output signal yfIt is corrected, then
System output calibration signal are as follows:
yr=yf-Ffs (34)
Then output calibration signal y is utilizedrAs input to the controller, guarantee that controller exports accurately control to system
U is measured, and then realizes sensor fault leeward force generating system active tolerant control.Active tolerant control strategy designed by paper
The structure and parameter of original system output feedback controller need not be changed, the controller still originally designed using system, utilization is defeated
Correction signal y outrFaults-tolerant control is carried out to system, fault type is not needed to prejudge, highlights active tolerant control energy
Enough handle the ability of unknown failure.Controller, which inputs, at this time is
uc=yf-Ffs (35)
In formula, uc=[Ωh ΓG]TFor the input of controller.
Similarly actuator failures can also be used with similar faults-tolerant control.
Detailed description of the invention
Fig. 1 is based on the basic structure of the wind generator system of double fed induction generators (DFIG)
Fig. 2 subordinating degree function structure chart
Fig. 3 wind generator system faults-tolerant control structure chart
Fig. 4 wind generator system HWIL simulation control principle drawing
Specific implementation method
The invention will be further described with example with reference to the accompanying drawing.
Step 1: establishing the Global fuzzy model of wind generator system
According to the state equation of formula (5) obtained wind generator system, wind-power electricity generation system is obtained using T-S fuzzy algorithmic approach
Shown in the global T-S fuzzy model of system such as formula (8).
Step 2: wind generator system multi-fault Diagnosis and reconstruction strategy
By the way that actuator failures and sensor fault characteristic analysis, actuator failures are internal system failures, can lead
The variation of cause system relevant parameter, finally will affect the output of system, therefore it can be considered as sensor fault, pass through sensor
Hardware redundancy technology combination sliding mode observer is theoretical, establishes logic residual error table, realizes multi-fault Diagnosis.
Secondly by introduce a simple filter, convert actuator failures for sensor fault, establish one by
Original actuator failures and sensor fault composition virtual execution device failure, by the reconstruct to virtual execution device failure come
It realizes two kinds of failures while reconstructing.
Step 3: the faults-tolerant control of wind generator system
It is theoretical by above failure reconfiguration, the information such as fault waveform, amplitude can be obtained in real time, are avoided generation and are commented
The complexity of valence residual signals.Therefore sensor fault reconstruction approach base value is utilizedTo sensor fault output signal yfIt is corrected, then
System output calibration signal are as follows:
yr=yf-Ffs (34)
Then output calibration signal y is utilizedrAs input to the controller, guarantee that controller exports accurately control to system
U is measured, and then realizes sensor fault leeward force generating system active tolerant control.Active tolerant control strategy designed by paper
The structure and parameter of original system output feedback controller need not be changed, the controller still originally designed using system, utilization is defeated
Correction signal y outrFaults-tolerant control is carried out to system, fault type is not needed to prejudge, highlights active tolerant control energy
Enough handle the ability of unknown failure.Controller, which inputs, at this time is
uc=yf-Ffs (35)
In formula, uc=[Ωh ΓG]TFor the input of controller.
Similarly actuator failures can also be used with similar faults-tolerant control.
Wind generator system diagnosis and fault-tolerant control module of 4th step by multiple faults described above are in HWIL simulation
It is realized on device AD5436.Its corresponding digital quantity signal of wind velocity signal inputted as wind energy conversion system exports as tach signal and electricity
Magnetic torque signal is used to carry out closed loop feedback control to wind generator system.PC machine is connect by Ethernet with AD5436, is passed through
Analog quantity is converted to digital quantity by AD/DA converter.When wind speed variable reaches gear-box, transmission chain drives motor rotation, leads to
AC-AC transformation is crossed, is sent to power grid.
The present invention is used in the Shunt-connected Wind Power Generation System, as shown in the figure.Main modular has wind energy conversion system, gear-box, double-fed
Influence generator, converters, capacitor, transformer and power grid etc..The failure that will be built in software Matlab
Diagnosis and the model of faults-tolerant control copy into HWIL simulation tool box, design in conjunction with associate power electronic section, and it is real to carry out half
Object emulation, utilizes the waveform of performance parameter power coefficient and tip speed ratio after the resulting faults-tolerant control of HWIL simulation case
Figure, compares with the situation under failure, the validity of fault-tolerant controller designed by the verifying present invention.
During fan operation, failure diagnosis unit according to the present invention can real-time online obtain accurate failure letter
Breath, compensates the failure of wind generator system, does not change the structure and parameter of entire wind power system and controller, therefore
Controller design is simple and convenient.After failure occurs, by utilizing designed active tolerant control device, whole system still is able to
Maintenance and original performance indicator similar level, and stable operation, complete corresponding control task.
Claims (1)
1. wind generator system multi-fault Diagnosis and faults-tolerant control, it is characterized in that:
(a) wind generator system multi-fault Diagnosis strategy is proposed；
High speed shaft revolving speed Ω is exported in system using hardware redundancy technologyhTwo duplicate revolving speeds are installed and are passed in the position of signal
Sensor is denoted as Ω for measuring high speed shaft revolving speedh,m1And Ωh,m2, i=1,2；When system is without sensor fault, Ωh,m1=
Ωh,m2=Ωh；When sensor fault occurs for system, signal Ωh,m1=Ωh+ΔΩh,m1, Ωh,m2=Ωh+ΔΩh,m2；It is attached
The Δ Ω addedh,m1With Δ Ωh,m2Indicate the fault value that speed probe 1 and speed probe 2 may occur；
By comparing the measured value between two same type of sensors of same position, wind generator system fault diagnosis is realized
Purpose；Difference between this two signals can directly show the generation of failure, if | | Ωh,m1-Ωh,m2| | in certain time period
Inside it is not equal to 0, then illustrates system jam；
T-S fuzzy-sliding-mode observer can accurately obtain high speed shaft speed estimate valueIt is before the generation of any sensor fault
All very close actual value afterwards；Actuator failures are internal system failures, will lead to the variation of system relevant parameter, influence system
Output, can be considered sensor fault；NoteWithMake residual signals, system fault diagnosis plan
Slightly it is specifically described as: when 1 failure of sensor, r1≠ 0, r2≈0；When 2 failure of sensor, r1≈ 0, r2≠0；Work as actuator
When failure, r1≠ 0, r2≠0；
(b) actuator and sensor failures are carried out while is reconstructed；
Consider sensor fault and the simultaneous system of actuator failures (12), it is assumed that system (12) meetsAnd the constant zero point of system is stable；With orthogonal matrix TRSquare is exported multiplied by the system in formula (12)
Battle array, can obtain formula (13) and formula (14):
Filter is introduced, defines one group of new state variable z (t) as the output y containing sensor fault2(t) filtered letter
Number, such as formula (15):
In formula, AfFor a stationary filtering matrix；
Wind generator system can indicate again are as follows:
ya(t)=Caxa(t) (19)
In formula,Expression is virtually held
Row device fault vectors, are norm-boundeds, i.e., η0For a normal number, xa(t)=[x (t)T z
(t)T]TFor the system state variables after coordinate transform；
By the above-mentioned transformation to system (12), sensor fault has not been contained in new system (18), (19), but by sensor
Failure and actuator failures all become actuator failures and are handled；It designs corresponding sliding formwork Failure Observer and combines output of equal value
Injection is theoretical, can obtain virtual faults reconstruction valueSolve two kinds of failure fs(t)、fa(t) reconstruction while；
The design process of wind generator system active tolerant control are as follows:
The form for designing wind generator system sliding mode observer is as follows:
In formula, ρ is correction factor (gain), is determined by failure amplitude；Gl, GnIt is Robust Sliding Mode Observer to constant linear anti-
Present matrix and nonlinear feedback matrix；Sliding mode control strategy v is designed in order to ensure sliding formwork movementρ, i.e.,
Definition status evaluated error isOutput error is
Assumed condition 1 meets, and there are a linear transformation battle array T, so that (Aa,M,Ca) become the forms of formula (23):
In formula, T is an orthogonal matrix,M0It is a non-singular matrix,
(Aa22,Aa31) it is completely observable；
By formula (18)-(19) and (20)-(21) can systematic error dynamical equation are as follows:
In formula, Aa0=Aa-GlCa；Observer matrix can be taken as
Exporting dynamic error is
When sliding formwork moves toDiscontinuous term can be expressed as follows
vρ=-(CaGn)-1(CaAa0e(t)-CaMfas(t)) (26)
Then
E (t)=(I-Gn(CaGn)-1Ca)Aaoe(t)-CaMfas(t) (27)
In formula,
In order to realize that actuator and sensor failures reconstruct simultaneously using designed sliding mode observer, defines linear coordinate and become
It changes: TL:e→eL, takeThen matrix (Aa,M,Ca) translate into following form:
In formula, Aa1L=Aa1+LAa3, M2L=TM2All be non-singular matrix, non-linear gain matrix meet Lyapunov Equation and,
Take GnL=[0 Ip]T；
Under this coordinate transform, the state and output bias equation of system are as follows:
Assuming that sliding formwork moves to,Aa1LIt is stable, then ea1(t)→0；
Therefore, it can obtain
The then reconstruction value of unknown failure vector are as follows:
Similarly discontinuous term is indicated using continuous function:
In formula, σ is the lesser scalar of value the precision that guarantees failure reconfiguration.
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| CN112748663B (en) * | 2020-12-21 | 2022-12-02 | 华能新能源股份有限公司 | Wind power torque fault-tolerant control method based on data-driven output feedback |
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