CN109236572B - Low-wind-speed high-power magnetic suspension vertical axis wind turbine generator and control method thereof - Google Patents
Low-wind-speed high-power magnetic suspension vertical axis wind turbine generator and control method thereof Download PDFInfo
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- CN109236572B CN109236572B CN201811348959.9A CN201811348959A CN109236572B CN 109236572 B CN109236572 B CN 109236572B CN 201811348959 A CN201811348959 A CN 201811348959A CN 109236572 B CN109236572 B CN 109236572B
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- 239000000725 suspension Substances 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000013016 damping Methods 0.000 claims abstract description 13
- 238000004146 energy storage Methods 0.000 claims abstract description 12
- 238000005339 levitation Methods 0.000 claims description 48
- 238000004804 winding Methods 0.000 claims description 20
- 230000001276 controlling effect Effects 0.000 claims description 19
- 230000005484 gravity Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 238000010248 power generation Methods 0.000 claims description 4
- 238000011217 control strategy Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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
- F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
- F03D9/10—Combinations of wind motors with apparatus storing energy
- F03D9/11—Combinations of wind motors with apparatus storing energy storing electrical energy
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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
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
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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
- F03D7/06—Controlling wind motors the wind motors having rotation axis substantially perpendicular to the air flow entering the rotor
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- H02J3/386—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
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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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- 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
- Y02E10/728—Onshore wind turbines
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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
- Y02E10/74—Wind turbines with rotation axis perpendicular to the wind direction
-
- 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
- Y02E10/76—Power conversion electric or electronic aspects
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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
- Y02E70/00—Other energy conversion or management systems reducing GHG emissions
- Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin
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- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Eletrric Generators (AREA)
- Wind Motors (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a low-wind-speed high-power magnetic suspension vertical axis wind turbine and a control method thereof, and belongs to the field of wind power. The wind turbine generator comprises a permanent magnet direct drive type wind driven generator, a magnetic suspension disc type motor, a wind wheel, an air gap sensor, an upper end bearing, a lower end bearing, a shell, a tower, a converter system, a contactor, energy storage equipment and the like. The converter system comprises a machine side converter, a net side converter and a suspension converter. When the wind speed is smaller than the rated wind speed, the suspension current transformer carries out suspension control, so that the rotating body of the wind turbine generator rises to and is kept at a suspension balance point, the machine side current transformer carries out MPPT control on the permanent magnet direct-driven generator, and grid-connected is realized by the grid side current transformer. When the wind speed is larger than the rated wind speed and smaller than the cut-out wind speed, the suspension converter performs rotary damping control, and the machine side converter performs constant power control on the permanent magnet direct-drive generator. The invention has the advantages of ingenious structure, simple and convenient control and high wind energy utilization rate, can realize low wind speed starting and high power output, and is particularly suitable for a weak wind type wind power plant.
Description
Technical Field
The invention relates to a wind generating set, in particular to a low-wind-speed high-power magnetic suspension vertical axis wind generating set and a control method thereof, and belongs to the field of wind power.
Background
At present, a horizontal axis wind driven generator is taken as a main stream product of a high-power wind driven generator. However, the horizontal axis wind driven generator has inherent defects of yaw demand on wind, large starting resistance moment (starting wind speed is 2.5-5 m/s), complex and difficult control, inconvenient installation, high cost and the like, influences the healthy development of the horizontal axis wind driven generator, and particularly is difficult to meet the low wind speed starting requirement of a weak wind type wind power plant.
The vertical axis wind turbine has the advantages of low starting wind speed, simple installation and the like because a yaw device is not needed, and the vertical axis wind turbine is applied to wind turbines with medium and small power levels. The magnetic suspension vertical axis wind driven generator greatly reduces the starting resistance moment because of no mechanical friction, thereby further reducing the starting wind speed and being the key direction of wind power development in the future.
However, the existing magnetic suspension vertical axis wind driven generator almost adopts magnetic suspension bearings (including active and passive magnetic suspension bearings, hybrid magnetic suspension bearings and the like) to realize suspension, has complex structure, large control difficulty and small wind collecting area, limits the utilization of wind energy, and ensures that the generated power is small and the cost is high, thus the development of a high-power low-wind-speed vertical axis wind driven generator set which is suitable for the development of a weak wind type wind power plant is urgently needed.
Disclosure of Invention
The main purpose of the invention is that: aiming at the defects or shortcomings in the prior art, the low-wind-speed high-power magnetic suspension vertical axis wind turbine generator set is ingenious in structure, simple to control, high in wind energy utilization rate and high in power.
In order to achieve the purpose, the low-wind-speed high-power magnetic suspension vertical axis wind turbine generator set comprises: the device comprises a permanent magnet direct-drive type wind driven generator, a magnetic suspension disc type motor, a wind wheel, an air gap sensor, an upper end bearing, a lower end bearing, a shell, a tower, a converter system, a contactor and energy storage equipment.
The permanent magnet direct-drive wind driven generator comprises a stator and a rotor; the stator is sleeved on the outer circumference of the tower and fixed with the tower, and comprises a stator core and a stator winding, wherein the stator winding is a three-phase winding; the rotor is an outer rotor and sleeved on the outer side of the stator, the rotor comprises a rotor core and a permanent magnet, the permanent magnet is fixed with the surface of the rotor core, and the rotor core is fixed with the inner side surface of the shell.
The magnetic suspension disc motor is positioned below the permanent magnet direct-drive type wind driven generator and comprises a disc stator, a disc rotor and a threaded disc; the disc type stator consists of a disc type stator core and a disc type stator winding, the disc type stator winding is a three-phase winding, the disc type stator core is fixed with the threaded disc, the threaded disc is fixed with the tower, and the air gap sensor is attached to the surface of the disc type stator core; the disc rotor is a permanent magnet rotor and is fixed with the bottom of the shell.
The wind wheels comprise a first wind wheel and a second wind wheel; the first wind wheel comprises a transverse bracket and a first blade, one end of the transverse bracket is fixed with the first blade, and the other end of the transverse bracket is fixed with the side face of the shell; the second wind wheel comprises a longitudinal support and a second blade, one end of the longitudinal support is fixed with the second blade, and the other end of the longitudinal support is fixed with the top of the shell.
The upper end bearing is positioned on the inner side of the top center of the shell, sleeved on the outer circumference of the tower and fixed with the top end of the tower; the lower end bearing is positioned on the inner side of the bottom center of the shell, sleeved on the outer circumference of the tower and fixed with the tower.
The converter system comprises a machine side converter, a net side converter and a suspension converter; one end of the machine side converter is connected with the stator of the permanent magnet direct-drive wind driven generator, and the other end of the machine side converter is connected with the net side converter and the contactor respectively; the other end of the grid-side converter is connected with a power grid through a transformer; one end of the suspension converter is connected with the disk stator of the magnetic suspension disk motor, and the other end of the suspension converter is connected with the energy storage equipment and the other end of the contactor respectively.
The rotor of the permanent magnet direct-drive type wind driven generator, the disc rotor of the magnetic suspension disc motor, the wind wheel and the shell are collectively called as a rotating body of the low-wind-speed high-power magnetic suspension vertical axis wind turbine generator.
The control method of the low-wind-speed high-power magnetic suspension vertical axis wind turbine comprises the following steps:
Step 1, starting preparation: when the wind speed V w reaches the cut-in wind speed V in, the suspension converter is started, the energy storage equipment supplies direct current to the suspension converter, at the moment, the suspension converter is in an inversion state, three-phase current i a、ib、ic output by the suspension converter is subjected to abc/dq coordinate transformation to obtain d-axis current component i d and q-axis current component i q of the disc stator, i d is regulated, and electromagnetic suction force f e generated by the disc stator is increased until the rotating body starts to rise.
Step 2, maximum power point tracking control: when the wind speed V w is between the cut-in wind speed V in and the rated wind speed V N, namely: v in<Vw≤VN, on the one hand, suspension control is implemented by the suspension converter, so as to ensure that the rotating body is kept at a suspension balance point in the rotating process, and the method is as follows: the d-axis current component set value i d * of the disk stator is obtained by passing the difference between the air gap length set value delta ref at the suspension balance point and the suspension air gap length delta measured by the air gap sensor in real time through a PI regulator, the d-axis voltage component given value u d * of the disc stator is obtained by the difference between the i d * and the actual measured value i d through a PI regulator; meanwhile, the q-axis current component given value i q * =0 of the disc stator, the difference between the i q * and the actual measured value i q is processed by a PI regulator to obtain q-axis voltage component given values u q *;ud * and u q * of the disc stator, the q-axis voltage component given value u α * and u β * are obtained by dq/alpha beta coordinate transformation, the q-axis voltage component given value u q *;ud * and u q * are sent to an SVPWM module to be modulated to generate a driving signal, controlling the levitation current transformer to generate required exciting voltage u a、ub、uc and current i a、ib、ic so as to keep the rotator at a levitation balance point;
on the other hand, the permanent magnet direct-drive type wind driven generator starts to generate electricity under the action of wind power, the machine side converter carries out maximum power point tracking control of active power on the permanent magnet direct-drive type wind driven generator, and grid connection is realized by the grid side converter.
Step 3, constant power output control: when the wind speed V w is between the rated wind speed V N and the cut-out wind speed V out, namely: v N<Vw≤Vout, controlling the suspension converter and the machine side converter according to the wind speed, so that the output power of the permanent magnet direct-drive wind driven generator is kept to be rated power, and the specific method comprises the following steps:
31 If the wind speed V w is greater than the rated wind speed V N but less than the set wind speed V S, namely: v N<Vw<VS, a rotational damping control method is adopted, namely: controlling the suspension converter to gradually reduce the d-axis current component i d of the disc stator, so that the sum of the electromagnetic suction force f e generated by the disc stator and the electromagnetic suction force f pm generated by the disc rotor permanent magnet is smaller than the gravity mg of the rotating body, further enabling the shell to vertically drop to be in contact with the tower, and generating friction force between the shell and the tower, wherein friction resistance moment T f is generated by the rotating body in the rotating process, namely, the rotating damping is increased; simultaneously controlling the machine side converter, and controlling the rotating speed of the permanent magnet direct-drive type wind driven generator according to a motion equation, so as to ensure that the permanent magnet direct-drive type wind driven generator outputs rated power, and realizing grid connection by the grid side converter;
32 If the wind speed V w continues to increase, namely: v S≤Vw≤Vout, the levitation converter adopts a zero d-axis current (ZDC) control strategy, i.e. i d * =0, so that the electromagnetic suction force f e generated by the disc stator is reduced to 0, the shell is completely dropped on the tower, and the friction resistance moment T f reaches the maximum value, so that the rotation damping is increased; simultaneously controlling the machine side converter, and controlling the rotating speed of the permanent magnet direct-drive type wind driven generator according to a motion equation, so as to ensure that the permanent magnet direct-drive type wind driven generator outputs rated power; at the moment, the magnetic suspension disc motor is in a power generation state, and electric energy is transmitted to a power grid through the suspension current transformer; and meanwhile, the grid-connected converter realizes grid connection.
The friction resistance moment in the step 3 is as follows:
Tf＝f×R＝kF×R
Wherein F is a friction force between the shell and the tower, R is a radius of the tower, k is a friction coefficient, F is a resultant force of the rotating body acting on the tower in a vertical direction, and f=mg-F e-fpm is included, wherein mg is a gravity of the rotating body, F e is an electromagnetic suction force generated by the disc stator, and F pm is an electromagnetic suction force generated by the disc rotor.
The equation of motion in the step 3 is:
wherein T m is wind wheel torque generated by wind acting on the wind wheel, T e1 is electromagnetic torque of the permanent magnet direct drive wind turbine, T e2 is electromagnetic torque of the magnetic levitation disc motor, T f is friction resistance torque, J is rotational inertia of the rotating body, and ω m is mechanical angular velocity of the rotating body.
The beneficial effects of the invention are as follows:
1) The magnetic suspension disk motor replaces the traditional magnetic suspension bearing, can flexibly control suspension and adjust rotation damping control, and also gives consideration to power generation, so that energy bidirectional flow is realized, low wind speed starting and even breeze starting are realized, and the wind energy utilization rate is higher, and the magnetic suspension disk motor is particularly suitable for a weak wind type wind power plant and distributed wind power.
2) Because of the outer rotor structure, a plurality of sets of wind collecting driving systems can be adopted, thereby realizing high-power output.
3) The structure is ingenious, the control is simple and convenient, and the installation and the maintenance are easy.
Drawings
FIG. 1 is a schematic diagram of a low wind speed high power magnetic levitation vertical axis wind turbine according to the present invention.
FIG. 2 is a schematic diagram of a low wind speed high power magnetic levitation vertical axis wind turbine.
Fig. 3 is a schematic diagram of suspension mechanics analysis of the magnetic suspension disk motor of the present invention.
Fig. 4 is a control block diagram example 1 of the magnetic levitation disc motor of the present invention.
Fig. 5 is a control block diagram example 2 of the magnetic levitation disc motor of the present invention.
Reference numerals in the drawings: the wind power generator comprises a 1-permanent magnet direct-drive wind power generator, a stator of the 11-permanent magnet direct-drive wind power generator, a rotor of the 12-permanent magnet direct-drive wind power generator, a 2-magnetic levitation disc motor, a disc stator of the 21-magnetic levitation disc motor, a disc rotor of the 22-magnetic levitation disc motor, a 3-first wind wheel, a 31-transverse bracket, 32-first blades, 4-second wind wheels, 41-longitudinal brackets, 42-second blades, 6-air gap sensors, 7-upper end bearings, 8-lower end bearings, 9-shells, 10-towers, 15-machine side converters, 16-network side converters, 17-levitation converters, 18-contactors, 19-energy storage devices, 211-disc stator cores and 212-disc stator windings.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the low wind speed high power magnetic suspension vertical axis wind turbine of the present invention includes: the wind driven generator comprises a permanent magnet direct drive type wind driven generator 1, a magnetic suspension disc type motor 2, a wind wheel, an air gap sensor 6, an upper end bearing 7, a lower end bearing 8, a shell 9, a tower 10 and a converter system.
The permanent magnet direct-drive type wind driven generator 1 is a radial non-salient pole type permanent magnet synchronous generator and comprises a stator 11 and a rotor 12; the stator 11 is sleeved on the outer circumference of the tower 10 and is fixed with the tower 10, the stator 11 comprises a stator core and a stator winding, and the stator winding is a three-phase winding; the rotor 12 is an outer rotor, is sleeved outside the stator 11, and comprises a rotor core and a permanent magnet, wherein the permanent magnet is fixed with the surface of the rotor core, and the rotor core is fixed with the inner side surface of the shell 9.
The magnetic suspension disc motor 2 is an axial non-salient pole type disc permanent magnet synchronous motor, as shown in fig. 1 and 3, and is positioned below the permanent magnet direct drive type wind driven generator 1 and comprises a disc stator 21, a disc rotor 22 and a threaded disc 23; the disc stator 21 consists of a disc stator core 211 and a disc stator winding 212, wherein the disc stator winding 212 is a three-phase winding, the disc stator core 211 is fixed with a threaded disc 23, the threaded disc 23 is fixed with a tower 10, and the air gap sensor 6 is attached to the surface of the disc stator core 211; the disc rotor 22 is a permanent magnet rotor which is fixed to the bottom of the housing 9.
As shown in fig. 1, the wind wheel comprises a first wind wheel 3 and a second wind wheel 4; the first wind wheel 3 comprises a transverse bracket 31 and a first blade 32, one end of the transverse bracket 31 is fixed with the first blade 32, and the other end is fixed with the side surface of the shell 9; the second wind wheel 4 comprises a longitudinal support 41 and a second blade 42, one end of the longitudinal support 41 is fixed with the second blade 42, and the other end is fixed with the top of the housing 9.
The upper end bearing 7 is positioned on the inner side of the top center of the shell 9, sleeved on the outer circumference of the tower 10 and fixed with the top end of the tower 10; the lower end bearing 8 is positioned at the inner side of the bottom center of the shell 9, sleeved on the outer circumference of the tower 10 and fixed with the tower 10.
As shown in fig. 2, the converter system comprises a machine side converter 15, a grid side converter 16 and a suspension converter 17, wherein the machine side converter 15 is an AC/DC converter and is used for maximum power tracking control of active power of the permanent magnet direct drive type wind driven generator 1; the grid-side converter 16 is a DC/AC converter, so that grid connection is realized; the levitation current transformer 17 is an AC/DC bi-directional current transformer and is mainly used for levitation control and rotational damping adjustment.
As shown in fig. 2, one end of the machine side converter 15 is connected to the stator of the permanent magnet direct drive wind turbine 1, and the other end is connected to the grid side converter 16 and the contactor 18, respectively; the other end of the grid-side converter 16 is connected with a power grid through a transformer; one end of the levitation current transformer 17 is connected with a disc stator 21 of the magnetic levitation disc motor 2, and the other end is respectively connected with the other ends of the energy storage device 19 and the contactor 18. The energy storage device 19 may be a battery, a super capacitor, or the like.
As shown in fig. 1, all rotating parts such as a rotor 12 of the permanent magnet direct drive type wind turbine 1, a disc rotor 22 of the magnetic levitation disc type motor 2, a wind wheel (including the first wind wheel 3 and the second wind wheel 4), a housing 9 and the like are collectively referred to as a rotating body.
The control method of the low-wind-speed high-power magnetic suspension vertical axis wind turbine comprises the following steps:
step 1, starting preparation: when the wind speed V w reaches the cut-in wind speed V in, the levitation current transformer 17 is started, the energy storage device 19 supplies direct current to the levitation current transformer 17, at this time, the contactor 18 is in an off position, the levitation current transformer 17 is in an inversion state, and three-phase current i a、ib、ic output by the levitation current transformer 17 is subjected to abc/dq coordinate transformation to obtain d-axis current component i d and q-axis current component i q of the disc stator 21, wherein i d is levitation excitation current for controlling levitation of the rotating body, i q is torque current for controlling electromagnetic torque T e2 of the magnetic levitation disc motor 2. The electromagnetic attraction force f e generated by the disc stator 21 is increased by adjusting i d by the levitation current transformer 17, and as shown in fig. 3, the disc rotor 22 is subjected to upward electromagnetic attraction force f e, which can be calculated by the following formula:
Where μ 0 is the vacuum permeability, N is the number of turns of the levitation winding 212, S e is the effective area of the pole surface of the disk stator core 211, and δ is the levitation air gap length.
As shown in fig. 3, the electromagnetic attraction force f pm generated by the disc rotor 22 due to the action of the permanent magnet is:
Wherein μ 0 is vacuum permeability, S pm is effective area of magnetic pole surface of permanent magnet of disc rotor 22, H c is coercive force of the permanent magnet, and l m is thickness of the permanent magnet.
As can be seen from fig. 3, the electromagnetic attraction force f Σ of the suspension system is the sum of the electromagnetic attraction force f e generated by the disc stator 21 and the electromagnetic attraction force f pm generated by the disc rotor 22, and the direction of the electromagnetic attraction force f Σ is opposite to the direction of the gravity mg of the rotating body, when the electromagnetic attraction force f Σ is greater than the gravity mg of the rotating body, namely: f Σ > mg, the disc rotor 22, together with all other parts of the rotating body, will start to move upwards with the equation of motion:
fe+fpm-mg＝ma
where a is the acceleration of the rotating body in the vertical direction.
Step 2, maximum power point tracking control: as shown in fig. 4, when the wind speed V w is between the cut-in wind speed V in and the rated wind speed V N, namely: v in<Vw≤VN, on the one hand, suspension control is implemented by the suspension converter 17 to ensure that the rotating body is kept at a suspension balance point in the rotating process, and the method is that; the difference between the air gap length set value delta ref (for example, delta ref =8mm) at the suspension balance point and the suspension air gap length delta measured by the air gap sensor 6 in real time is passed through a PI regulator to obtain a d-axis current component i d set value i d * of the disc stator 21, and the difference between the i d * and an actual measured value i d is passed through the PI regulator to obtain a d-axis voltage component set value u d * of the disc stator 21; simultaneously, let the q-axis current component given value i q * =0 of the disc stator 21, obtain the q-axis voltage component given value u q *;ud * and u q * of the disc stator 21 through PI regulator by the difference between i q * and the actual measured value i q, obtain u α * and u β * through dq/alpha beta coordinate transformation, send into SVPWM module to modulate and generate driving signal, the levitation current transformer 17 is controlled to generate required exciting voltage u a、ub、uc and current i a、ib、ic so that the rotating body is kept at a levitation balance point, and at the moment, no friction exists between the rotating body and the tower 10, so that low wind speed starting is realized.
On the other hand, the permanent magnet direct drive wind power generator 1 starts generating power under the action of wind power, and the machine side converter 15 performs Maximum Power Point Tracking (MPPT) control of active power on the permanent magnet direct drive wind power generator, and grid-connected is realized by the grid side converter 16.
Step 3, constant power output control: when the wind speed V w is between the rated wind speed V N and the cut-out wind speed V out, namely: v N<Vw≤Vout, controlling the suspension converter 17 and the machine side converter 15 according to the wind speed, so as to keep the output power of the permanent magnet direct-driven wind driven generator 1 as rated power, wherein the specific method comprises the following steps:
31 If the wind speed V w is greater than the rated wind speed V N but less than the set wind speed V S, namely: v N<Vw<VS, a rotational damping control method is adopted, namely: controlling the suspension converter 17 to gradually reduce the d-axis current component i d of the disc stator 21, so that the sum of the electromagnetic suction force f e generated by the disc stator 21 and the electromagnetic suction force f pm generated by the permanent magnet of the disc rotor 22 is smaller than the gravity mg of the rotating body, and further, the shell 9 vertically drops to be in contact with the tower 10, and a friction force f is generated between the shell 9 and the tower 10, so that a friction resistance moment T f is generated in the rotating process of the rotating body, namely the rotation damping is increased, and the rotating speed of the rotating body is reduced; meanwhile, the controller-side converter 15 controls the rotating speed of the permanent magnet direct-drive type wind driven generator 1 according to the following motion equation, so that the output rated power of the permanent magnet direct-drive type wind driven generator 1 is ensured, and grid connection is realized by the grid-side converter 16 at the same time:
Wherein T m is wind wheel torque generated by wind acting on the wind wheel, T m1 is the sum of torque T m2 of the first wind wheel 3 and torque T m2 of the second wind wheel 4, T e1 is electromagnetic torque of the permanent magnet direct drive type wind driven generator 1, T e2 is electromagnetic torque of the magnetic suspension disc type motor 2, T f is friction resistance torque of the rotating body, J is rotational inertia of the rotating body, and omega m is mechanical angular velocity of the rotating body. Wherein, friction resistance torque T f can be calculated as follows:
Tf＝f×R＝kF×R (4)
Where F is the friction force between the housing 9 and the tower 10, R is the radius of the tower 10, k is the friction coefficient, F is the pressure of the rotating body acting on the tower 10, i.e. the resultant force of the rotating body acting on the tower 10 in the vertical direction, and has f=mg-F e-fpm, where mg is the weight of the rotating body, F e is the electromagnetic attraction force generated by the disc stator 21, obtained by formula (1), and F pm is the electromagnetic attraction force generated by the disc rotor 22, obtained by formula (2).
32 If the wind speed V w continues to increase, namely: as shown in fig. 5, the levitation converter 17 adopts a zero d-axis current (ZDC) control strategy, i.e., i d * =0, so that the electromagnetic attraction force f e generated by the disc stator 21 is reduced to 0, the housing 9 will drop on the tower 10 completely, the friction resistance moment T f reaches the maximum value, the rotational damping is increased, and the levitation converter 17 is in a rectifying state, and since the magnetic levitation disc motor 2 is a non-salient pole disc synchronous motor in this example, the q-axis current component given value i q * of the disc stator 21 can be:
Where n p2 is the pole pair number of the magnetic levitation disc motor 2, ψ r2 is the rotor flux linkage of the magnetic levitation disc motor 2, T e2 * is the electromagnetic torque set point of the magnetic levitation disc motor 2, ω m is the mechanical angular velocity of the rotating body, P ref2 is the output power set point of the magnetic levitation disc motor 2, and as an example, P ref2 may be equal to or smaller than the rated power P N2 of the magnetic levitation disc motor 2.
Meanwhile, the machine side converter 15 controls the rotating speed of the permanent magnet direct-drive type wind driven generator 1 according to a motion equation shown in the formula (3), so that the output rated power of the permanent magnet direct-drive type wind driven generator 1 is ensured; at the moment, the magnetic levitation disc motor 2 is in a power generation state, the contactor 18 is closed, the magnetic levitation disc motor 2 transmits electric energy to a power grid through the levitation current transformer 17 or charges the energy storage device 19, and redundant wind energy is consumed, and the magnetic levitation disc motor is similar to pitch adjustment; and simultaneously, grid connection is realized by the grid-side converter 16.
The set wind speed V S is determined as follows:
1) Controlling the levitation controller 17 so that the d-axis current component i d =0 of the disc stator 21, the disc stator 21 does not generate electromagnetic attraction force (i.e., levitation force), that is, F e =0, so that the outer shell 9 is completely landed on the tower 10, and the resultant force of the rotating body acting on the tower 10 in the vertical direction is f=mg-F pm, wherein the friction resistance moment of the rotating body reaches the maximum value T fmax, and T fmax＝k(mg-fpm) ×r can be obtained by the formula (4);
2) According to the formula (3), if the difference between the rotor torques T mS and T fmax generated by the wind at this time makes the rotating body rotate at the rated speed, the wind speed at this time is the set wind speed V S.
In addition, when the wind speed is greater than the cut-out wind speed, namely V w>Vout, a mechanical brake is started to lock the wind turbine, so that the wind turbine is braked and enters a shutdown mode.
From the above, the invention adopts the disk magnetic suspension system to replace the traditional magnetic suspension bearing to realize suspension control, can realize low wind speed starting and even breeze starting, and can realize rapid and dynamic regulation and control of the rotation damping according to the wind speed, thereby ensuring the output rated power. On the other hand, the magnetic suspension disc motor can also be used as a generator for generating electricity, so that the wind energy utilization rate is higher. In addition, due to the outer rotor structure, a plurality of sets of wind collecting driving systems can be adopted, so that high-power output is realized.
Claims (3)
1. The low wind speed high power magnetic suspension vertical axis wind turbine generator system, which is characterized in that: the device comprises a permanent magnet direct-drive type wind driven generator, a magnetic suspension disc type motor, a wind wheel, an air gap sensor, an upper end bearing, a lower end bearing, a shell, a tower, a converter system, a contactor and energy storage equipment;
The permanent magnet direct-drive wind driven generator comprises a stator and a rotor; the stator is sleeved on the outer circumference of the tower and fixed with the tower, and comprises a stator core and a stator winding, wherein the stator winding is a three-phase winding; the rotor is an outer rotor and sleeved on the outer side of the stator, the rotor comprises a rotor core and a permanent magnet, the permanent magnet is fixed with the surface of the rotor core, and the rotor core is fixed with the inner side surface of the shell;
the magnetic suspension disc motor is positioned below the permanent magnet direct-drive type wind driven generator and comprises a disc stator, a disc rotor and a threaded disc; the disc type stator consists of a disc type stator core and a disc type stator winding, the disc type stator winding is a three-phase winding, the disc type stator core is fixed with the threaded disc, the threaded disc is fixed with the tower, and the air gap sensor is attached to the surface of the disc type stator core; the disc rotor is a permanent magnet rotor and is fixed with the bottom of the shell;
The wind wheels comprise a first wind wheel and a second wind wheel; the first wind wheel comprises a transverse bracket and a first blade, one end of the transverse bracket is fixed with the first blade, and the other end of the transverse bracket is fixed with the side face of the shell; the second wind wheel comprises a longitudinal bracket and a second blade, one end of the longitudinal bracket is fixed with the second blade, and the other end of the longitudinal bracket is fixed with the top of the shell;
The upper end bearing is positioned on the inner side of the top center of the shell, sleeved on the outer circumference of the tower and fixed with the top end of the tower; the lower end bearing is positioned on the inner side of the bottom center of the shell, sleeved on the outer circumference of the tower and fixed with the tower;
The converter system comprises a machine side converter, a net side converter and a suspension converter; one end of the machine side converter is connected with the stator of the permanent magnet direct-drive wind driven generator, and the other end of the machine side converter is connected with the net side converter and the contactor respectively; the other end of the grid-side converter is connected with a power grid through a transformer; one end of the suspension converter is connected with a disc stator of the magnetic suspension disc motor, and the other end of the suspension converter is connected with the energy storage equipment and the other end of the contactor respectively;
The rotor of the permanent magnet direct-drive type wind driven generator, the disc rotor of the magnetic suspension disc motor, the wind wheel and the shell are collectively called a rotating body.
2. A control method of a low wind speed high power magnetic levitation vertical axis wind turbine as set forth in claim 1, comprising the steps of:
Step 1, starting preparation: when the wind speed V w reaches the cut-in wind speed V in, starting the suspension converter, and providing a direct current power supply for the suspension converter by the energy storage equipment, wherein the suspension converter is in an inversion state, three-phase current i a、ib、ic output by the suspension converter is subjected to abc/dq coordinate transformation to obtain d-axis current component i d and q-axis current component i q of the disc stator, and regulating i d to increase electromagnetic suction force f e generated by the disc stator until the rotating body starts to rise;
Step 2, maximum power point tracking control: when the wind speed V w is between the cut-in wind speed V in and the rated wind speed V N, namely: v in<Vw≤VN, on the one hand, suspension control is implemented by the suspension converter, so as to ensure that the rotating body is kept at a suspension balance point in the rotating process, and the method is as follows: the d-axis current component set value i d * of the disk stator is obtained by passing the difference between the air gap length set value delta ref at the suspension balance point and the suspension air gap length delta measured by the air gap sensor in real time through a PI regulator, the d-axis voltage component given value u d * of the disc stator is obtained by the difference between the i d * and the actual measured value i d through a PI regulator; meanwhile, the q-axis current component given value i q * =0 of the disc stator, the difference between the i q * and the actual measured value i q is processed by a PI regulator to obtain q-axis voltage component given values u q *;ud * and u q * of the disc stator, the q-axis voltage component given value u α * and u β * are obtained by dq/alpha beta coordinate transformation, the q-axis voltage component given value u q *;ud * and u q * are sent to an SVPWM module to be modulated to generate a driving signal, controlling the levitation current transformer to generate required exciting voltage u a、ub、uc and current i a、ib、ic so as to keep the rotator at a levitation balance point;
On the other hand, the permanent magnet direct-drive type wind driven generator starts to generate electricity under the action of wind power, the machine side converter carries out maximum power point tracking control of active power on the permanent magnet direct-drive type wind driven generator, and grid connection is realized by the grid side converter;
Step 3, constant power output control: when the wind speed V w is between the rated wind speed V N and the cut-out wind speed V out, namely: v N<Vw≤Vout, controlling the suspension converter and the machine side converter according to the wind speed, so that the output power of the permanent magnet direct-drive wind driven generator is kept to be rated power, and the specific method comprises the following steps:
31 If the wind speed V w is greater than the rated wind speed V N but less than the set wind speed V S, namely: v N<Vw<VS, a rotational damping control method is adopted, namely: controlling the suspension converter to gradually reduce the d-axis current component i d of the disc stator, so that the sum of the electromagnetic suction force f e generated by the disc stator and the electromagnetic suction force f pm generated by the disc rotor permanent magnet is smaller than the gravity mg of the rotating body, further enabling the shell to vertically drop to be in contact with the tower, and generating friction force between the shell and the tower, wherein friction resistance moment T f is generated by the rotating body in the rotating process, namely, the rotating damping is increased; simultaneously controlling the machine side converter, and controlling the rotating speed of the permanent magnet direct-drive type wind driven generator according to a motion equation, so as to ensure that the permanent magnet direct-drive type wind driven generator outputs rated power, and realizing grid connection by the grid side converter;
32 If the wind speed V w continues to increase, namely: v S≤Vw≤Vout, the levitation converter adopts a zero d-axis current control strategy, i.e. i d * =0, so that the electromagnetic suction force f e generated by the disc stator is reduced to 0, the shell is completely dropped on the tower, and the friction resistance moment T f reaches the maximum value, so that the rotation damping is increased; simultaneously controlling the machine side converter, and controlling the rotating speed of the permanent magnet direct-drive type wind driven generator according to a motion equation, so as to ensure that the permanent magnet direct-drive type wind driven generator outputs rated power; at the moment, the magnetic suspension disc motor is in a power generation state, and electric energy is transmitted to a power grid through the suspension current transformer; and the grid-connected converter realizes grid connection.
3. The control method of the low-wind-speed high-power magnetic suspension vertical axis wind turbine according to claim 2, wherein the equation of motion in the step 3 is:
wherein T m is wind wheel torque generated by wind acting on the wind wheel, T e1 is electromagnetic torque of the permanent magnet direct drive wind turbine, T e2 is electromagnetic torque of the magnetic levitation disc motor, T f is friction resistance torque, J is rotational inertia of the rotating body, and ω m is mechanical angular velocity of the rotating body.
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| CN109973311B (en) * | 2019-04-25 | 2023-07-07 | 曲阜师范大学 | Offshore wind power pneumatic suspension vertical axis sea water desalination system |
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| CN110005574B (en) * | 2019-04-25 | 2023-04-25 | 曲阜师范大学 | Wind-force compressed air energy storage type vertical axis air-float power generation system |
| CN110067701B (en) * | 2019-04-25 | 2020-10-02 | 曲阜师范大学 | Offshore wind power pneumatic suspension vertical shaft seawater desalination system and control method thereof |
| CN110748458A (en) * | 2019-11-15 | 2020-02-04 | 河南科技大学 | Road magnetic suspension wind driven generator and power generation device |
| CN110805526A (en) * | 2019-11-15 | 2020-02-18 | 河南科技大学 | Vertical shaft type magnetic suspension wind driven generator and power generation device for road |
| CN111173681B (en) * | 2020-01-09 | 2021-06-22 | 曲阜师范大学 | Magnetic suspension vertical axis wind turbine generator suspension control method based on sliding mode neural network |
| CN113775474B (en) * | 2021-08-21 | 2023-09-29 | 曲阜师范大学 | Vertical axis wind turbine generator suspension control method based on adaptive neural network finite time control |
| CN116111653B (en) * | 2022-12-21 | 2024-04-12 | 天津大学 | Wind power generation control (APC) system and method considering balance point optimization in PRSV mode |
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