CN107975457A - A kind of Wind turbines pitch control method for suppressing fluctuations in wind speed interference - Google Patents
A kind of Wind turbines pitch control method for suppressing fluctuations in wind speed interference Download PDFInfo
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Classifications
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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
- F03D7/022—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
- F03D7/04—Automatic control; Regulation
-
- 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
- F05B2260/82—Forecasts
- F05B2260/821—Parameter estimation or prediction
- F05B2260/8211—Parameter estimation or prediction of the weather
-
- 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
- F05B2260/84—Modelling or simulation
-
- 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
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- 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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Abstract
A kind of Wind turbines pitch control method for suppressing fluctuations in wind speed interference is claimed in the present invention, is related to wind generating variable-propeller control field.First, in order to avoid Wind turbines it is non-linear caused by control chaotic effect, and then the invariable power point more than rated wind speed linearizes Wind turbines；It is difficult to reach satisfied effect in power accuracy control in view of conventional PID controllers at the same time, and then devises a kind of sliding mode controller.Secondly, for the jitter problem for controlling process to occur caused by sliding formwork control, take and the method for carrying out predictive compensation is disturbed to fluctuations in wind speed.Finally, in order to solve to control process time lag effect caused by the big inertia of unit, Kalman filter and Newton-Laphson algorithm make use of to be predicted effective wind speed, so as to be compensated to propeller pitch angle.Control method proposed by the present invention can be good at reducing sliding formwork shake, improve the response speed of system, while can stablize output power well, have certain practical value.
Description
Technical field
The invention belongs to wind generating variable-propeller control field, is specifically a kind of pitch control for controlling wind energy conversion system output power
Method, this method are based on the Wind turbines pitch control method for suppressing fluctuations in wind speed interference and stable output power.
Background technology
Due to regenerative resource it is green, sustainable the advantages that, obtain a large amount of concerns of countries in the world.Wind-power electricity generation is very
A kind of important regenerative resource, installed capacity account for the important proportion of power consumption, therefore, improve power generation quality with important
Meaning.More than rated wind speed, it is necessary to keep output power constant.Variable pitch control technology is to maintain constant important of output power
One of means[1-2]。
Due to the characteristic such as the time lag of wind energy conversion system, non-linear, conventional PID controller is difficult to meet that control requires, in order to improve
Control accuracy and system stability, at present, existing numerous scholars have made intensive studies this problem, it is proposed that all multi-party
Case.Such as advanced control theories such as fuzzy control, neutral net, Sliding mode variable structure control, Feedforward-feedback controls.Document [3] derives
The Affine nonlinear model of Wind turbines, devises gamma controller, and carried out exact linearization method on this basis.Text
Offer [4] and use intelligent Genetic Algorithm Optimize Multivariable PID Controller, improve pitch control device performance.Document [5] is special according to known wind energy conversion system
Property and Sliding mode variable structure system it is theoretical, derive the state side that sliding formwork moves on equivalent control and the diverter surface on diverter surface
Journey.Buffeted to weaken, using the modified fuzzy sliding mode controlling method controlled based on maximal power point tracking.Document [6] is attached in equalization point
After closely wind energy conversion system is linearized, control accuracy is improved using linear dimensions change algorithm.Document [7] is for practical function in wind-force
Effective wind speed on machine is difficult to the problem of measurement, designs Kalman filter, by the optimal estimation to wind wheel pneumatic torque and
Its relation with wind speed, recurrence calculation is carried out to wind speed.Meanwhile it is minimised as with the stationarity of wind speed round and tower top displacement
Optimal control target, devises feather predictive controller.How document [8] suppresses anti-for speed-changing oar-changing wind power generating set
Output-power fluctuation caused by feedback signal hysteresis is studied.In traditional PI D feedback controls and based on measurement wind speed feedforward control
On the basis of, it is proposed that the variable pitch control strategy that the feedforward of effective wind speed estimation is combined with traditional PID/feedback, passes through Kalman
Filtering carries out effective wind speed estimation with Newton-Raphson method, and suitable feedforward propeller pitch angle is provided according to the effective wind speed of estimation,
Realize that dynamic Feedforward compensates.The feedforward and feedback control strategy that document [9] is established, feedback control add differentiation element, feedforward control
Device processed also achieves good control effect using fuzzy control rule.Document [10] is excellent using radial base neural net
Change PI controller parameters, and with particle cluster algorithm optimization neural network.Document [11] devises the PI controls with Optimal Parameters
Device, while using time-delay jamming estimation and signal compensation technology.
The studies above is directed to power stability problem in control system of wind turbines, has attempted different control methods.Its is each
Solve the problems, such as, control performance is improved.The present invention employs sliding formwork on the basis of these researchs have been used for reference
Variable-structure control, while fluctuations in wind speed is disturbed and carries out predictive compensation, shake is reduced, and using Kalman Algorithm to propeller pitch angle
Compensation is predicted, improves the response speed of system.
Bibliography：
[1]Xiu-xing Yin,Yong-gang Lin,Wei Li,Ya-jing Gu,Xiao-jun Wang,Peng-
fei Lei.Design,modeling and implementation of a novel pitch angle control
system for wind turbine.Renewable Energy,2015,81:599-608.
[2] Yang Junhua, Zheng Jianhua, Yang Mengli, Wu Jie pitch-controlled wind-driven generator group invariable power modified feedback linearization controls
Control theory and application, 2012,29 (10)：1365-1370.
[3] Bao Nengsheng, complete fast type wind energy conversion system active nonlinear Control [J] the solar energy journals of trunnion axis arrow of leaf branch, 2004,
25(4):519—524.
[4]ZaferCivelek,MuratLüy,HayatiMamur.Proportional-integral-
derivative parameter optimisation ofblade pitch controller in wind turbines
by a new intelligent genetic algorithm.IET Renewable Power Generation.2016,10
(8):1-9.
[5] wind generator system maximal wind-energies of Qin Bin, Zhou Hao, Qiu Li, Guo Baishun, the Wang Xin based on fuzzy sliding mode tracking control
Follow the trail of [J] Shanghai communications university's journals, 2014,48 (07):993-997.
[6]Fernando A.Inthamoussou,Hernán De Battista,Ricardo J.Mantz.LPV-
based active power control ofwind turbines covering the complete wind speed
range.Renewable Energy.2016,99:996-1007.
[7] the wind energy conversion system disturbance feedforward that Wang Xiaolan, Tang Huimin, Bao Guangqing, Zhang Xiaoying, Liang Chen suppress load is anti-with predicting
Present complex controll [J] electrotechnics journals, 2016,31 (02):230-235.
[8] what Yulin, Huang Shuai, Du Jing, Soviet Union and Eastern Europe's rising sun, Li Jun are based on the wind generating set pitch control of feedforward away from control [J]
Electric power system protection and control, 2012,40 (03):15-20.
[9] wind generating set pitch control that Guo Peng fuzzy feedforwards are combined with fuzzy is away from control China electrical engineering
Report, 2010,30 (8)：123-128.
[10]Iman Poultangari,Reza Shahnazi,Mansour Sheikhan.RBF neural
network based PI pitch controller for a class of5-MW windturbines using
particle swarm optimization algorithm.ISA Transaction,2012,51:641-648.
[11]Richie Gao,Zhiwei Gao.Pitch control for wind turbine systems
using optimization,estimation andcompensation.Renewable Energy.2016,91:501-
515.
[12] wind generator system synovial membrane variable-structure control electric system of the happy of Xu Hong, Liu Dong based on observer and its from
Dynamic chemistry report [J], 2013,25 (2)：20-25.
[13]Endusa Billy Muhando,Tomonobu Senjyu,Naomitsu Urasaki,et al.Gain
scheduling control of variable speed WTG under widely varying turbulence
loading[J].Renewable Energy,2007,32:2407-2423.
[14]Boukhezzar B,Siguerdidjane H,Maureen Hand M.Nonlinear control of
variable-speed wind turbines generator torque limiting and power optimization
[J].Journal of Solar Energy Engineering,2006,128:516-530.
The content of the invention
Present invention seek to address that above problem of the prior art, it is proposed that a kind of jitter problem for reducing control process, carry
The Wind turbines pitch control method that high control precision, the suppression fluctuations in wind speed for the response speed for improving system are disturbed.The present invention
Technical solution it is as follows：
A kind of Wind turbines pitch control method for suppressing fluctuations in wind speed interference, it comprises the following steps：
1), first, the invariable power point more than rated wind speed linearizes wind turbine model, and devises one kind
Sliding mode controller；Design sliding mode controller is us=ψ x1+ φ sgn (s), in formula：ψ is wind wheel error coefficient, and φ disturbs for sliding formwork
Handoff gain coefficient, x1For error originated from input, s is switching function.
2) shake, secondly, occurred for control process caused by step 1) sliding formwork control, takes and fluctuations in wind speed is done
The method for carrying out predictive compensation is disturbed, pneumatic torque is estimated first with Kalman filtering algorithm, recycles newton pressgang inferior
Algorithm estimates effective wind speed the interference volume estimated, reduces handoff gain；
3), the effective wind speed finally estimated according to step 2), and the relation of wind speed and propeller pitch angle, carry out propeller pitch angle real
When compensate.
Further, the step 2) estimates pneumatic torque using Kalman filtering algorithm, recycles newton to draw
The inferior algorithm of husband estimates effective wind speed the interference volume estimated specifically includes；
The single order markoff process of pneumatic torque is：
In formula：TaFor pneumatic torque, TψFor torque related coefficient.
The state equation that can obtain transmission system is：
In formula：ωrFor wind speed round, ZtFor moment of resistance constant, JzRotary inertia after being converted for wind power system, TaFor gas
Dynamic torque, U input torques in order to control,
According to be actually needed can using initialization system output equation as：
Y=HX (27)
In formula：H=[1 0]；
According to sampling needs, take its cycle to carry out discretization to system equation for 0.001S, obtain the discrete of transmission system
Changing model is：
In formula：F (k+1, k) is state-transition matrix；B (k+1, k) matrixes in order to control；X (k) is state vector；H is state
Observing matrix；υ is systematic survey noise；ω is systematic procedure noise；
Take Kalman filtering algorithm to estimate wind speed, recycled on the basis of pneumatic torque estimate is obtained
Newton-Laphson algorithm estimates optimal wind speed；
According to the iteration thought of Newton-Laphson algorithm, the iteration expression formula of optimal wind speed estimation is：
In formula：For current time optimal wind speed；KnTo optimize derivation function；ρ is atmospheric density；CpFor wind energy utilization system
Number；R is wind wheel radius；λ is tip speed ratio；For subsequent time optimal wind speed；Estimate pneumatic torque；JnFor the mesh of optimization
Scalar functions.
Further, the relation of the step 3) wind speed and propeller pitch angle is：, wind speed V input quantities and propeller pitch angle β output valves it
Between Nonlinear Mapping relational model it is as follows
β (v)=a0+a1v+…anvn,
β=f (Pd, V), Pa=(1+k%) Pd (31)
In formula：anFor fitting coefficient, PdIt is definite value for rated output power, PaRepresent the power that impeller absorbs, wind turbine
The energy loss of group sets its value as k% according to specific circumstances.
Advantages of the present invention and have the beneficial effect that：
(1) since Wind turbines are a strong nonlinearities, the complication system of big inertia, so employ rated wind speed with
On invariable power point it is linearized, to be controlled in global scope to system, while devise a kind of sliding formwork
Variable-structure controller, to improve control accuracy.
(2) there are fluctuations in wind speed distracter in linearized system, in order to eliminate interference, the present invention is to wind speed disturbance fluctuation
Real-time predictive compensation has been carried out, to reduce the disturbance switching gain coefficient in the control rate of design, had been controlled so as to reduce
The jitter problem of journey.
(3) due to the big inertia of Wind turbines, so that the delay of control signal is be easy to cause, so that it is too late to produce variable pitch
When, in order to solve the problems, such as this, the present invention carries out effective wind speed using Kalman filter and Newton-Laphson algorithm pre-
Estimate, so as to be compensated to propeller pitch angle, improve the response speed of system.
Brief description of the drawings
Fig. 1 is that the present invention provides preferred embodiment wind power system structure chart；
Fig. 2 tactful schematic diagrames in order to control；
Fig. 3 is input anemobiagraph；
Fig. 4 is output power contrast simulation figure；
Fig. 5 is sliding formwork control power output figure；
Fig. 6 is variable pitch contrast simulation figure.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, detailed
Carefully describe.Described embodiment is only the part of the embodiment of the present invention.
The present invention solve above-mentioned technical problem technical solution be：
1) wind energy conversion system model is implemented to linearize and design control rate
Wind energy conversion system converts wind energy into mechanical energy, hereby theoretical (Betz theory) according to aerodynamic shellfish[2]Understand：
Pa=0.5 ρ π R2Cp(λ,β)V3 (1)
In formula：PaThe power absorbed for draught fan impeller；ρ is atmospheric density；R is draught fan impeller radius；CpDuring to capture wind energy
Power coefficient, its be λ, β function；V is actual wind speed；β is the propeller pitch angle of wind turbine；λ is tip speed ratio, it is wind wheel
The function of rotating speed and propeller pitch angle, i.e.,
λ=ωrR/V (2)
In formula：ωrFor wind speed round.
Power coefficient CpFor the function of λ, β, it is related to the structural behaviour of wind energy conversion system.Under generally rule of thumb choosing
Face characteristic curve goes the characteristic of approximate fits wind energy conversion system absorption wind energy.
Cp=(0.44-0.0167 β) sin (π (λ -3)/(15-0.3 β)) -0.00184 (λ -3) β (3)
The drive model of wind energy conversion system is (its model is shown in attached drawing 1):
In formula：JfFor the rotary inertia of draught fan impeller；TzFor the moment of resistance, it is assumed that it concentrates on the low speed end of gear-box；TlIncrease
The low speed end torque of fast gear-box；JdgFor generator rotary inertia；ωhFor gearbox high-speed end rotating speed；ThExported for gear-box
Torque；TeFor the electromagnetic torque of generator, because being herein rated wind speed above power limitation control, it can be set as definite value, its
Value is set according to specific power generation requirements.
System resistance square characteristic and gearratio are：
Tz=Ztωr (6)
K=ωh/ωr (7)
In formula：ZtFor moment of resistance constant, it is related with low speed end force transferring structure.K is the gearratio of gear.
The characteristic equation of whole wind energy conversion system driveline components can be obtained by bringing formula (5), (6), (7) into formula (4)：
Jz=k2Jdg+Jf (9)
In formula：JzRotary inertia after being converted for whole wind power system.
Variable pitch executing agency is hydraulic drive, it is first order inertial loop：
Since the present invention be directed to rated wind speed above power limitation control, then electromagnetic torque and reference rotation velocity are definite value, therefore
It is believed that system resistance square is constant.
Due to wind turbine pneumatic torque for three variables nonlinear function, i.e.,
By invariable power point (v of the formula (11) more than rated wind speedp, βp, ωp) expansion[12]
Wherein, Δ v=v-vp, Δ β=β-βp, Δ ω=ω-ωp, then have
Ignore higher order indefinite small, and define：
Simultaneous formula (8), (9), (13) can obtain
It can be obtained according to formula (10) and (14)
The winged, reference rotation velocity of wind wheel is set as ωref, definition：x1=ωref- ω,Then formula (15) can be converted into
Matrix form
According to the system after linearisation, with Δ ω, device inputs in order to control, u=Δs βr- Δ β is output,For
Interference, design sliding mode controller are
us=ψ x1+φsgn(s) (17)
In formula:ψ is wind wheel error coefficient, and φ is sliding formwork disturbance switching gain coefficient.
Its switching function is
S=cx1+x2 (18)
In formula：C is normal number.
According to design requirement, it is desirable to which c, ψ, φ meet following require
φ ＞ | d |max(21)
Switching function derivation is obtained
Then
Design requirement is obtained according to formula (20), it is known that
Understood according to design requirement formula (21), with the reduction of interference d, switching obstacle gain φ can also reduce, so as to reach
To the effect for reducing shake.
2) fluctuations in wind speed interference is compensated
In order to reduce sliding formwork shake, the method that the present invention devises wind speed interference compensation.The present invention is filtered first with Kalman
Ripple algorithm estimates pneumatic torque, recycles Newton-Laphson algorithm to estimate effective wind speed, so as to be estimated
Interference volume, reduce handoff gain.
The single order markoff process of pneumatic torque is[13]：
Formula (25) is brought into formula (8), the state equation that can obtain transmission system is：
According to be actually needed can using initialization system output equation as：
Y=HX (27)
In formula：H=[1 0].
According to sampling needs, take its cycle to carry out discretization to system equation for 0.001S, obtain the discrete of transmission system
Changing model is：
In formula：F (k+1, k) is state-transition matrix；X (k) is state vector；H is state observation matrix；υ surveys for system
Measure noise；ω is systematic procedure noise.
Since wind speed time variation, turbulent flow, pylon influence to cause the limitation of airspeedometer measurement, Kalman's filter is taken herein
Ripple algorithm estimates wind speed.Newton-Laphson algorithm is recycled on the basis of pneumatic torque estimate is obtained to optimal wind
Speed is estimated.
According to the iteration thought of Newton-Laphson algorithm[14], optimal wind speed estimation iteration expression formula be：
In formula：For current time optimal wind speed；For subsequent time optimal wind speed；Estimate pneumatic torque；JnTo be excellent
The object function of change
3) propeller pitch angle input quantity is compensated
After wind machine oar leaf production definition, its wind energy utilization curve determines that, so CpCurve would not occur
Change, and wind speed round should be maintained near rated value, so CpRelation between actual wind speed V, has reformed into pitch
Definite non-linear relation between angle beta and V.Therefore the mechanical energy that wind energy conversion system is caught can be abbreviated as[9]：
Pa=f (V, β) (30)
The energy loss of Wind turbines is held essentially constant after production definition, mainly including one in some transmission process
A little frictional dissipations, can set its value according to specific circumstances as k%, and in order to keep output power constant, then impeller absorbs
Power is：
Pa=(1+K%) Pd (31)
In formula：PdIt is definite value for rated output power.
Had according to formula (30) and (31)
β=f (Pd,V) (32)
Due to non-linear and its complicated structure of actual wind power system, therefore the functional relation in formula (32) is necessarily special
It is not complicated.Accurate Nonlinear Mapping relation between propeller pitch angle and actual wind speed after simplifying in order to obtain, article first pass through ox
The rated wind speed that Dun Lafuxun algorithms are calculated under complex situations is minimum to corresponding propeller pitch angle between cut-out wind speed, recycling
Square law is fitted the Nonlinear Mapping relation between wind speed input quantity and propeller pitch angle output valve.
Nonlinear Mapping relational model between wind speed V input quantities and propeller pitch angle β output valves is as follows
β (v)=a0+a1v+…anvn (33)
On MATLAB platforms, with random wind speed (attached drawing 3) to actually enter, to wind power system Controlling model (see attached drawing
2) emulated, experiment analysis results are as follows：It can be drawn from emulation attached drawing 4,5, compared to traditional PID control, sliding formwork becomes knot
The control method of structure, improves the control accuracy of output power, reduces fluctuating error, but shake more severe；Adding wind
After speed fluctuation interference compensation and control input propeller pitch angle predictive compensation, the pitch process emulated in attached drawing 6 is shaken to a certain degree
On reduce, while variable pitch output response speed be improved.Because after being compensated to interference, reduce switching and increase
Benefit, so as to reach the effect for reducing sliding formwork shake；Add propeller pitch angle predictive compensation after, can to pitch process lead compensation,
Output-power fluctuation caused by variable pitch delay caused by avoiding the big inertia of wind power system.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limits the scope of the invention.
After the content for having read the record of the present invention, technical staff can make various changes or modifications the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (3)
1. a kind of Wind turbines pitch control method for suppressing fluctuations in wind speed interference, it is characterised in that comprise the following steps：
1), first, the invariable power point more than rated wind speed linearizes wind turbine model, and devises a kind of sliding formwork
Controller；Design sliding mode controller is us=ψ x1+ φ sgn (s), in formula：ψ is wind wheel error coefficient, and φ is sliding formwork disturbance switching
Gain coefficient, x1For error originated from input, s is switching function；
2), secondly, for caused by step 1) sliding formwork control control process occur shake, take fluctuations in wind speed is disturbed into
The method of row predictive compensation, estimates pneumatic torque first with Kalman filtering algorithm, recycles Newton-Laphson algorithm
Effective wind speed is estimated, the interference volume estimated, reduce handoff gain；
3), the effective wind speed finally estimated according to step 2), and the relation of wind speed and propeller pitch angle, mend propeller pitch angle in real time
Repay.
2. the Wind turbines pitch control method according to claim 1 for suppressing fluctuations in wind speed interference, it is characterised in that institute
Step 2) is stated to estimate pneumatic torque using Kalman filtering algorithm, recycle Newton-Laphson algorithm to effective wind speed into
Row estimation, the interference volume estimated specifically include；
The single order markoff process of pneumatic torque is：
In formula：TaFor pneumatic torque, TψFor torque related coefficient；
The state equation that can obtain transmission system is：
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In formula：ωrFor wind speed round, ZtFor moment of resistance constant, JzRotary inertia after being converted for wind power system, TaTurn to be pneumatic
Square, U input torques in order to control,
According to be actually needed can using initialization system output equation as：
Y=HX (27)
In formula：H=[1 0]；
According to sampling needs, take its cycle to carry out discretization to system equation for 0.001S, obtain the discretization mould of transmission system
Type is：
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In formula：F (k+1, k) is state-transition matrix；B (k+1, k) matrixes in order to control；X (k) is state vector；H is state observation
Matrix；υ is systematic survey noise；ω is systematic procedure noise；
Take Kalman filtering algorithm to estimate wind speed, newton is recycled on the basis of pneumatic torque estimate is obtained
The inferior algorithm of pressgang estimates optimal wind speed；
According to the iteration thought of Newton-Laphson algorithm, the iteration expression formula of optimal wind speed estimation is：
In formula：For current time optimal wind speed；KnTo optimize derivation function；ρ is atmospheric density；CpFor power coefficient；R
For wind wheel radius；λ is tip speed ratio；For subsequent time optimal wind speed；Estimate pneumatic torque；JnFor the target letter of optimization
Number.
3. the Wind turbines pitch control method according to claim 1 or 2 for suppressing fluctuations in wind speed interference, its feature exist
In the relation of the step 3) wind speed and propeller pitch angle is：, the Nonlinear Mapping between wind speed V input quantities and propeller pitch angle β output valves
Relational model is as follows
β (v)=a0+a1v+…anvn,
β=f (Pd, V), Pa=(1+k%) Pd (31)
In formula：anFor fitting coefficient, PdIt is definite value for rated output power, PaRepresent the power that impeller absorbs, Wind turbines
Energy loss sets its value as k% according to specific circumstances.
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| CN114294164A (en) * | 2021-12-09 | 2022-04-08 | 重庆邮电大学 | Fractional-order variable pitch control method for wind driven generator |
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