CN109306934A - Low wind speed dual motor type maglev vertical axis wind turbine and its control method - Google Patents

Low wind speed dual motor type maglev vertical axis wind turbine and its control method Download PDF

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Publication number
CN109306934A
CN109306934A CN201811349735.XA CN201811349735A CN109306934A CN 109306934 A CN109306934 A CN 109306934A CN 201811349735 A CN201811349735 A CN 201811349735A CN 109306934 A CN109306934 A CN 109306934A
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CN
China
Prior art keywords
wind
suspension
converter
wind speed
rotor
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Pending
Application number
CN201811349735.XA
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Chinese (zh)
Inventor
蔡彬
孙晨
褚晓广
闫绍敏
丁钰
柯健龙
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Qufu Normal University
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Qufu Normal University
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Priority to CN201811349735.XA priority Critical patent/CN109306934A/en
Publication of CN109306934A publication Critical patent/CN109306934A/en
Pending legal-status Critical Current

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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
    • 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
    • F03D15/00—Transmission of mechanical power
    • F03D15/20—Gearless transmission, i.e. direct-drive
    • 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
    • F03D3/00—Wind motors with rotation axis substantially perpendicular to the air flow entering the rotor 
    • F03D3/005—Wind motors with rotation axis substantially perpendicular to the air flow entering the rotor  the axis being vertical
    • 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
    • F03D3/00—Wind motors with rotation axis substantially perpendicular to the air flow entering the rotor 
    • F03D3/06—Rotors
    • F03D3/062—Rotors characterised by their construction elements
    • F03D3/064—Fixing wind engaging parts to rest of rotor
    • 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
    • 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
    • F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • F03D80/70—Bearing or lubricating arrangements
    • 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
    • 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
    • F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
    • F05B2260/76—Adjusting of angle of incidence or attack of rotating blades the adjusting mechanism using auxiliary power sources
    • 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
    • F05B2270/60—Control system actuates through
    • F05B2270/602—Control system actuates through electrical actuators
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • 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)

Abstract

The low wind speed double-motor type magnetic suspension vertical shaft Wind turbines of the present invention and its control method, belong to wind-powered electricity generation field.The Wind turbines include permanent magnet direct-drive type wind-driven generator, magnetic suspension disc type electric machine, wind wheel, pitch adjusting motor, shell, pylon and converter system etc..Current transformer includes generator-side converter wear, grid-side converter, suspension current transformer, disk type electric motor rotor side current transformer, pitch current transformer.When wind speed is less than rated wind speed, suspension current transformer implements the control that suspends, and rises to the rotary body of Wind turbines and is maintained at levitated equilibrium point, and generator-side converter wear implements MPPT control to permanent magnet direct-drive generator, and grid-side converter is realized grid-connected.When wind speed is greater than rated wind speed less than cut-out wind speed, suspension current transformer implements damping due to rotation control, and pitch current transformer implements pitch control, and generator-side converter wear implements power limitation control.Structure of the invention is ingenious, control is easy, and wind energy utilization is high, it can be achieved that low wind speed starting and high-power output, are particularly suitable for weak wind type wind power plant.

Description

Low wind speed double-motor type magnetic suspension vertical shaft Wind turbines and its control method
Technical field
The present invention relates to a kind of wind power generating set, especially a kind of low wind speed double-motor type magnetic suspension vertical shaft wind turbine Group and its control method belong to wind-powered electricity generation field.
Background technique
High-power wind-driven generator is using horizontal axis wind-driven generator as main product at present.But horizontal axis wind-driven generator is deposited It needing to yaw to wind, resistance of start square big (2.5~5m/s of threshold wind velocity), controlling complexity is difficult, installation is inconvenient, at high cost etc. Inherent shortcoming influences its sound development, and the low wind speed starting for being especially difficult to meet weak wind type wind power plant requires.
Vertical axis aerogenerator has the advantages such as the low, simple installation of threshold wind velocity, medium and small because being not necessarily to yaw device It is applied in power grade wind-driven generator.And magnetic suspension vertical shaft wind-driven generator is substantially reduced because of no mechanical friction Resistance of start square, thus starting wind velocity can be further decreased, it is the emphasis direction of the following Wind Power Development.
But existing magnetic suspension vertical shaft wind-driven generator is almost all made of magnetic suspension bearing (including the passive magnetic suspension bearing of master With hybrid magnetic suspension bearing etc.) it realizes and suspends, structure is complicated, and control difficulty is big, and area of collecting folk songs is small, limits the benefit of wind energy With so that generated output is small, at high cost, thus the high-power low wind speed for being badly in need of the weak wind type wind power plant development need of research and development adaptation hangs down D-axis wind power generating set.
Summary of the invention
It is a primary object of the present invention to: it is in view of the deficiencies in the prior art or insufficient, provide a kind of clever structure, Control is simple, wind energy utilization is high, high-power low wind speed double-motor type magnetic suspension vertical shaft Wind turbines.
In order to reach the goals above, the low wind speed double-motor type magnetic suspension vertical shaft Wind turbines of the present invention, comprising: permanent magnetism is straight Driving type wind power generation machine, magnetic suspension disc type electric machine, wind wheel, pitch adjust motor, air gap sensors, upper end bearing, bottom end bearing, Shell, pylon and converter control system.
The permanent magnet direct-drive type wind-driven generator includes stator and rotor；The stator sleeve is mounted in the excircle of the pylon On, and fixed with the pylon, the stator includes stator core and stator winding, and the stator winding is three-phase windings；Institute Stating rotor is outer rotor, is covered on the outside of the stator, and the rotor includes rotor core and permanent magnet, the permanent magnet with it is described The surface of rotor core is fixed, and the medial surface of the rotor core and the shell is fixed.
The magnetic suspension disc type electric machine is located at the lower section of the permanent magnet direct-drive type wind-driven generator, including disc type stator, disk Formula rotor and threaded disk；The disc type stator is made of disc type suspension iron core and suspending windings, and the suspending windings are direct current Excitation winding, the disc type suspension iron core are fixed with the threaded disk, and the threaded disk is fixed with the pylon, the gas Gap sensor mount is in the disc type suspension iron wicking surface；The disk rotor include disk rotor iron core and disk rotor around Group, the disk rotor winding are three-phase windings, and the bottom of the disk rotor iron core and the shell is fixed.
The wind wheel includes horizontal support and blade, and one end of the horizontal support is fixed with the blade, and the other end is worn It crosses the shaft that the shell adjusts motor with the pitch to fix, the pitch adjusts motor and the medial surface of the shell is solid It is fixed.
The upper end bearing is located on the inside of the center of top of the shell, is sleeved on the excircle of the pylon, and with The top of the pylon is fixed；The bottom end bearing is located on the inside of the bottom center of the shell, is sleeved on the outer of the pylon On circumference, fixed with the pylon.
The converter control system includes generator-side converter wear, grid-side converter, suspension current transformer, disk type electric motor rotor side Current transformer, pitch current transformer and battery；Determine with the permanent magnet direct-drive type wind-driven generator one end of the generator-side converter wear Sub- winding is connected, and the other end is connected with the grid-side converter and the suspension current transformer respectively；The grid-side converter it is another One end is connected by transformer with power grid；The suspending windings of the other end of the suspension current transformer and the magnetic suspension disc type electric machine It is connected；One end of disk type electric motor rotor side current transformer is connected with the disk rotor winding of the magnetic suspension disc type electric machine, separately One end is connected with the pitch current transformer and the battery respectively；The other end and the pitch of the pitch current transformer are adjusted Motor is connected, and controls pitch angle.
The rotor of the permanent magnet direct-drive type wind-driven generator, the disk rotor of the magnetic suspension disc type electric machine, the wind wheel, The pitch adjusts motor, the shell is referred to as low wind speed double-motor type magnetic suspension vertical shaft Wind turbines of the present invention Rotary body.
Above-mentioned low wind speed double-motor type magnetic suspension vertical shaft Wind turbines, control method include the following steps:
Step 1, start: as wind speed VwReach incision wind speed VinWhen, start the grid-side converter, it is made to work in rectification Mode provides DC power supply to the suspension current transformer, then adjusts the output electric current of the suspension current transformer, makes to be passed through described Exciting current in the suspending windings of magnetic suspension disc type electric machine is gradually increased, the electromagnetic attraction f that the disc type stator generateseAlso will It increases with it, until beginning to ramp up the rotary body；Then by the gas length setting value δ at levitated equilibrium pointrefWith it is described The difference for the suspension air gap length δ that air gap sensors measure in real time obtains the excitation of the suspending windings by control algolithm adjuster Given value of current valueBy this suspending windings exciting current given valueTransport to the suspension current transformer, the suspension current transformer output Exciting current ifTo the suspending windings, rises to the rotary body steadily and be maintained at levitated equilibrium point, at this point, the rotation There is no frictional force between swivel and the pylon, to realize low wind speed starting.
Step 2, MPPT maximum power point tracking controls: as wind speed VwIn incision wind speed VinWith rated wind speed VNBetween when, it may be assumed that Vin<Vw≤VN, the control that suspends is implemented by the suspension current transformer, it is ensured that it is flat that the rotary body is maintained at suspension during rotation Weigh point, and the permanent magnet direct-drive type wind-driven generator and the magnetic suspension disc type electric machine start to generate electricity under the action of the wind；By The generator-side converter wear implements MPPT maximum power point tracking control to the permanent magnet direct-drive type wind-driven generator, by the net side unsteady flow Device is realized grid-connected；Charge and discharge control is implemented to the battery by disk type electric motor rotor side current transformer simultaneously.
Step 3, rated power output control: as wind speed VwIn rated wind speed VNWith cut-out wind speed VoutBetween when, it may be assumed that VN <Vw<Vout, according to wind speed sizes, the suspension current transformer, the generator-side converter wear and the pitch current transformer are controlled, institute is made It states permanent magnet direct-drive type wind driven generator output power and remains rated power, method particularly includes:
If 31) wind speed VwGreater than rated wind speed VN, but it is less than wind speed setting VS, it may be assumed that VN<Vw<VS, then damping due to rotation is used Control method, it may be assumed that control the suspension current transformer, the electromagnetic attraction f for generating the disc type statoreLess than the rotary body Gravity mg, and then drop to the shell vertical and contacted with the pylon, generation is rubbed between the shell and the pylon Power is wiped, then the rotary body will generate frictional resistance moment T in rotary coursef, i.e. increase damping due to rotation；The machine is controlled simultaneously Side current transformer implements control by revolving speed of the equation of motion to the permanent magnet direct-drive type wind-driven generator, and then ensures the permanent magnetism Direct-driving type wind power generation machine exports rated power；
If 32) wind speed VwContinue to increase, but is less than cut-out wind speed Vout, it may be assumed that VS≤Vw≤Vout, then become the suspension It flows device and stops output electric current, so that the shell be made to be dropped on the pylon completely, i.e., the gravity of the described rotary body is all made With on the pylon, damping due to rotation is made to increase to maximum；Variable pitch control method is used simultaneously, it may be assumed that by the battery to institute It states pitch current transformer and DC power supply is provided, start the pitch current transformer, the pitch is controlled by the pitch current transformer and is adjusted Motor drives the blade to rotate, and to change the propeller pitch angle of the blade, and then the wind wheel torque for generating the wind wheel becomes It is small, while the generator-side converter wear is controlled, implement control by revolving speed of the equation of motion to the permanent magnet direct-drive type wind-driven generator, And then ensure the permanent magnet direct-drive type wind-driven generator output rated power.
Step 4, when wind speed is greater than cut-out wind speed, i.e. Vw>Vout, the pitch current transformer is controlled, the pitch is adjusted The rotation of blade described in motor driven, makes the blade be in complete full feathering state, feeds them into shutdown status.
Frictional resistance moment in the step 3 are as follows:
Tf=f × R=kF × R
In formula, frictional force of the f between the shell and the pylon, R is turret radius, and k is coefficient of friction, and F is institute The resultant force that rotary body acts in the vertical direction on the pylon is stated, and has F=mg-fe, wherein mg is the rotary body Gravity, feThe electromagnetic attraction generated for the disc type stator.
The equation of motion in the step 3 are as follows:
In formula, TmFor the wind wheel torque that wind-force acts on the wind wheel and generates, Te1For permanent magnet direct-drive type wind-force hair The electromagnetic torque of motor, Te2For the electromagnetic torque of the magnetic suspension disc type electric machine, TfFor the frictional resistance moment of the rotary body, J For the rotary inertia of the rotary body, ωmFor the mechanical angular speed of the rotary body.
The beneficial effects of the present invention are:
1) magnetic suspension disc type electric machine substitutes traditional magnetic suspension bearing, can flexibly control suspension, make the rotary body of generator Suspended state is at runtime, it can be achieved that low wind speed starts even breeze start-up, while can also generate electricity, and wind energy utilization is more Height is particularly suitable for weak wind type wind power plant and distributing wind-powered electricity generation.
2) magnetic suspension disc type electric machine can be according to wind speed size, flexible modulation wind energy conversion system damping due to rotation, it is ensured that system is steady safely Fixed operation.
3) because having outer-rotor structure, more set wind wheels can be used, to realize high-power output.
4) clever structure, control is easy, is easily installed maintenance.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the low wind speed double-motor type magnetic suspension vertical shaft wind-driven generator of the present invention.
Fig. 2 is the structural schematic diagram of the low wind speed double-motor type magnetic suspension vertical shaft Wind turbines of the present invention.
Fig. 3 is suspension system structural representation and the mechanical analysis schematic diagram of magnetic suspension disc type electric machine of the present invention.
Fig. 4 is the suspension control block diagram example of magnetic suspension disc type electric machine of the present invention.
Figure label: 1- permanent magnet direct-driving aerogenerator, the stator of 11- permanent magnet direct-driving aerogenerator, 12- permanent magnet direct-drive The rotor of wind-driven generator, 2- magnetic suspension disc type electric machine, the stator of 21- magnetic suspension disc type electric machine, 22- magnetic suspension disc type electric machine Rotor, 3- wind wheel, 31- horizontal support, 32- blade, 5- pitch adjust motor, 6- air gap sensors, 7- bottom end bearing, the upper end 8- Bearing, 9- shell, 10- pylon, 15- generator-side converter wear, 16- grid-side converter, 17- suspension current transformer, 18- disk type electric motor rotor Side current transformer, 19- pitch current transformer, 20- battery, 211- disc type suspension iron core, 212- suspending windings, 221- disk rotor iron Core, 222- disk rotor winding, 35- control algolithm adjuster.
Specific embodiment
With reference to the accompanying drawing, invention is further described in detail.
As shown in Figure 1 and Figure 2, the low wind speed double-motor type magnetic suspension vertical shaft Wind turbines of the present invention include: permanent magnet direct-drive type Wind-driven generator 1, magnetic suspension disc type electric machine 2, wind wheel 3, pitch adjust motor 5, air gap sensors 6, upper end bearing 7, lower end axis Hold 8, shell 9, pylon 10 and converter control system.
Permanent magnet direct-drive type wind-driven generator 1 includes stator 11 and rotor 12；Stator 11 is sleeved on the excircle of pylon 10, And it is fixed with pylon 10, stator 11 includes stator core and stator winding, and stator winding is three-phase windings；Rotor 12 is outer turns Son covers in the outside of stator 11, and rotor 12 includes rotor core and permanent magnet, and the surface of permanent magnet and rotor core is fixed, rotor The medial surface of iron core and shell 9 is fixed.
As shown in Figure 1, Figure 3, magnetic suspension disc type electric machine 2 is located at the lower section of permanent magnet direct-drive type wind-driven generator 1, it includes disk Formula stator 21, disk rotor 22 and threaded disk 23；Disc type stator 21 is made of disc type suspension iron core 211 and suspending windings 212, Suspending windings 212 are DC excitation winding, and disc type iron core 211 and threaded disk 23 are fixed, and threaded disk 23 and pylon 10 are fixed, Air gap sensors 6 are mounted on the surface of disc type iron core 211；Disk rotor 22 include disk rotor iron core 221 and disk rotor around Group 222, disk rotor winding 222 are three-phase windings, and disk rotor iron core 221 and the bottom of shell 9 are fixed.
As shown in Figure 1, wind wheel 3 includes N group (N≤3) horizontal support 31 and blade 32, there is a horizontal support 31 in every group With a blade 32, each horizontal support 31 is equipped with a blade 32 and a pitch adjusts motor 5, each horizontal support 31 One end and its blade 32 are fixed, and the other end passes through the shaft that shell 9 adjusts motor 5 with its pitch and fixes, which adjusts motor 5 It is fixed with the medial surface of shell 9.
Upper end bearing 8 is located on the inside of the center of top of shell 9, is sleeved on the excircle of pylon 10, and with pylon 10 Top is fixed；Bottom end bearing 7 is located on the inside of the bottom center of shell 9, is sleeved on the excircle of pylon 10, solid with pylon 10 It is fixed.
As shown in Fig. 2, converter control system includes generator-side converter wear 15, grid-side converter 16, suspension current transformer 17, disk Formula rotor side current transformer 18, pitch current transformer 19 and battery 20, wherein generator-side converter wear 15 is AC/DC current transformer, is used It is controlled in the maximal power tracing of permanent magnet direct-drive type wind-driven generator 1；Grid-side converter 16 is DC/AC bidirectional converter, is used for It realizes grid-connected；Suspension current transformer 17 is DC/DC current transformer, for control and the adjusting damping due to rotation of suspending；Disk type electric motor rotor side Current transformer 18 is AC/DC current transformer, is used for 2 output power of magnetic suspension disc type electric machine, and magnetic suspension disc type electric machine 2 is exported AC energy rectified, to battery 20 implement charge and discharge control；For pitch current transformer 19, if pitch adjusts motor 5 be DC servo motor, then pitch current transformer 19 is DC/DC current transformer, if it is alternating current generator, paddle that pitch, which adjusts motor 5, Square current transformer 19 is DC/AC current transformer.
As shown in Fig. 2, 11 phase of stator winding of the exchange side and permanent magnet direct-drive type wind-driven generator 1 of generator-side converter wear 15 Even, DC side is connected with one end of the DC side of grid-side converter 16 and suspension current transformer 17 respectively；Grid-side converter 16 is handed over Stream side is connected by transformer with power grid；212 phase of suspending windings of the other end of suspension current transformer 17 and magnetic suspension disc type electric machine 2 Even；The exchange side of disk type electric motor rotor side current transformer 18 is connected with the rotor windings 222 of magnetic suspension disc type electric machine 2, DC side It is connected respectively with one end of pitch current transformer 19 and battery 20；The other end of pitch current transformer 19 adjusts 5 phase of motor with pitch Even, the pitch angle of blade 32 is controlled.
As shown in Figure 1, the disk rotor 22 of the rotor 12 of permanent magnet direct-drive type wind-driven generator 1, magnetic suspension disc type electric machine 2, Wind wheel 3, pitch adjust all rotating parts such as motor 5, shell 9 and are referred to as rotary body.
Above-mentioned low wind speed double-motor type magnetic suspension vertical shaft Wind turbines, control method include the following steps:
Step 1, start: as wind speed VwReach incision wind speed VinWhen, start grid-side converter 16, it is made to work in rectification mould Formula provides DC power supply to suspension current transformer 17, then adjusts the output electric current of suspension current transformer 17, make to be passed through magnetcisuspension Tray type Exciting current in the suspending windings 212 of motor 2 is gradually increased, the electromagnetic attraction f that disc type stator 21 generateseAlso will increase therewith Greatly, as shown in figure 3, disk rotor 22 will be by upward electromagnetic attraction fe, it can be calculated by following formula:
In formula, μ0For space permeability, N is the number of turns of suspending windings 212, SeFor the magnetic pole surfaces of disc type suspension iron core 211 Effective area, ifFor the exciting current of the output of suspension current transformer 17 to suspending windings 212, δ is suspension air gap length.
From the figure 3, it may be seen that the electromagnetic attraction f that disc type stator 21 generatese, direction is contrary with the gravity mg of rotary body, As electromagnetic attraction feGreater than rotary body gravity mg when, it may be assumed that fe> mg, then all other part of the disk rotor 22 together with rotary body It will start to move upwards together, the equation of motion are as follows:
fe- mg=ma (2)
In formula, a is the acceleration of rotary body in vertical direction.
Then, as shown in figure 4, by the gas length setting value δ at levitated equilibrium pointref(such as: δref=8mm) and air gap The difference for the suspension air gap length δ that sensor 6 measures in real time by control algolithm adjuster 35 (such as PID regulator) obtain suspending around The exciting current given value of group 212By this exciting current given valueSuspension current transformer 17 is transported to, suspension current transformer 17 exports Exciting current ifTo suspending windings 212, rises to rotary body steadily and be maintained at levitated equilibrium point；At this point, rotary body and tower There is no frictional force between frame 10, it can be achieved that the weak wind of wind-driven generator even breeze start-up.
Step 2, MPPT maximum power point tracking controls: as wind speed VwIn incision wind speed VinWith rated wind speed VNBetween when, it may be assumed that Vin<Vw≤VN, the control that suspends is implemented by suspension current transformer 17, it is ensured that and rotary body is maintained at levitated equilibrium point during rotation, Permanent magnet direct-drive type wind-driven generator 1 and magnetic suspension disc type electric machine 2 start to generate electricity under the action of the wind；By generator-side converter wear 16 MPPT maximum power point tracking (MPPT) control is implemented to permanent magnet direct-drive type wind-driven generator 1, is realized by grid-side converter 17 grid-connected；Together When the alternating current that issues of magnetic suspension disc type electric machine 2 charge and discharge is implemented to battery 20 after the rectification of disk type electric motor rotor side current transformer 18 Electric control.
Step 3, rated power output control: as wind speed VwIn rated wind speed VNWith cut-out wind speed VoutBetween when, it may be assumed that VN <Vw<Vout, according to wind speed sizes, suspension current transformer 17, generator-side converter wear 15 and pitch current transformer 19 are controlled, permanent magnet direct-drive is made 1 output power of wind-driven generator is constant, is rated power, method particularly includes:
If 31) wind speed VwGreater than rated wind speed VN, but it is less than wind speed setting VS, it may be assumed that VN<Vw<VS, then damping due to rotation is used Control method, it may be assumed that control suspension current transformer 17 makes the exciting current i of suspending windings 212fThe electromagnetic force of generation, i.e. disc type stator The 21 electromagnetic attraction f generatedeLess than the gravity mg of rotary body, and then contact 9 vertical landing of shell extremely with pylon 10, shell 9 Frictional force f will be generated between pylon 10, then rotary body will generate frictional resistance moment T in rotary coursef, that is, increase rotation resistance Buddhist nun declines rotary body revolving speed；Generator-side converter wear 15 is controlled simultaneously, by following equations of motion to permanent magnet direct-driving aerogenerator 1 Revolving speed implement control, and then ensure permanent magnet direct-driving aerogenerator output rated power:
In formula, TmFor the wind wheel torque that wind-force acts on wind wheel and generates, Te1For the electricity of permanent magnet direct-drive type wind-driven generator 1 Magnetic torque, Te2For the electromagnetic torque of magnetic suspension disc type electric machine 2, TfFor the frictional resistance moment of rotary body, J is that the rotation of rotary body is used Amount, ωmFor the mechanical angular speed of rotary body.
Wherein, frictional resistance moment TfIt can be calculated as described below:
Tf=f × R=kF × R (4)
In formula, frictional force of the f between shell 9 and pylon 10, R is the radius of pylon 10, and k is coefficient of friction, and F is rotation Body acts on the pressure on pylon 10, i.e., rotary body acts on the resultant force in the vertical direction on pylon 10, and has F=mg-fe, Wherein mg is the gravity of rotary body, feFor the electromagnetic attraction that disc type stator 21 generates, acquired by formula (1).
If 32) wind speed VwContinue to increase, but is less than cut-out wind speed Vout, it may be assumed that VS≤Vw≤Vout, then make suspension current transformer 17 stop output electric current, it may be assumed that the exciting current i of suspending windings 212f=0, the electromagnetic attraction f that disc type stator 21 generatese=0, from And shell 9 will be dropped to completely on pylon 10, i.e. the gravity mg of rotary body is all acted on pylon 10, increases to damping due to rotation It is maximum；Variable pitch control method is used simultaneously, it may be assumed that is provided DC power supply to pitch current transformer 19 by battery 20, is started pitch Current transformer 19 controls pitch by pitch current transformer 19 and adjusts motor 5, and driving horizontal support 31 rotates, due to blade 32 and laterally Bracket 31 is fixed, so band movable vane piece 32 rotates while horizontal support 31 rotates, to change the propeller pitch angle of blade 32, in turn The wind wheel torque T for generating wind wheel 3mBecome smaller, while controlling generator-side converter wear 15, by the equation of motion shown in formula (3) to permanent magnetism The revolving speed of direct-driving type wind power generation machine 1 implements control, the T in this up-to-date style (3)e2=0, and then ensure permanent magnet direct-drive type wind-power electricity generation Machine 1 exports rated power.
Wind speed setting VSIt determines as follows:
1) suspension current transformer 17 is made to stop output electric current, it may be assumed that if=0, then by formula (1) it is found that suspending windings 212 do not generate Electromagnetic force (suspending power), i.e. fe=0, so that shell 9 is dropped to completely on pylon 10, i.e. the gravity of rotary body all acts on tower On frame 10, that is to say, that rotary body acts on the resultant force F=mg in the vertical direction on pylon 10, at this time the friction of rotary body The moment of resistance reaches maximum of Tfmax, T can be acquired by formula (4)fmax=kmg × R；
2) according to formula (3), if the wind wheel torque T that wind-force generates at this timemSWith TfmaxOfficial post obtain rotary body revolving speed and can protect It holds in rated speed, then wind speed at this time is wind speed setting VS。
Step 4, when wind speed is greater than cut-out wind speed, i.e. Vw>Vout, pitch current transformer 19 is controlled, pitch is made to adjust motor 5 Driving blade 31 rotates, and blade 31 is made to be in complete full feathering state, starts mechanical brake locks at this time and determines wind energy conversion system, realizes and stop Vehicle feeds them into shutdown mode.
From the foregoing, it will be observed that the present invention, which substitutes traditional magnetic suspension bearing using disc type magnetic suspension system, realizes the control that suspends, it can It realizes low wind speed starting even breeze start-up, while can realize according to wind speed size again and quickly dynamically regulate and control damping due to rotation Size, it is ensured that output rated power.On the other hand, magnetic suspension disc type electric machine is also used as while realizing suspension control Electrical power generators keep wind energy utilization higher.This external cause has outer-rotor structure, can be used and covers drive system of collecting folk songs more, thus Realize high-power output.

Claims (4)

1.低风速双电机型磁悬浮垂直轴风电机组，其特征在于，包括：永磁直驱型风力发电机、磁悬浮盘式电机、风轮、桨矩调节电机、气隙传感器、采风驱动系统、上端轴承、下端轴承、外壳、塔架和变流器控制系统；1. low wind speed dual motor type magnetic levitation vertical axis wind turbine, is characterized in that, comprises: permanent magnet direct drive type wind generator, magnetic levitation disc motor, wind wheel, pitch adjusting motor, air gap sensor, wind collecting drive system, Upper bearing, lower bearing, housing, tower and converter control system; 所述永磁直驱型风力发电机包括定子和转子；所述定子套装在所述塔架的外圆周上，并与所述塔架固定，所述定子包括定子铁芯和定子绕组，所述定子绕组为三相绕组；所述转子为外转子，套在所述定子外侧，所述转子包括转子铁芯和永磁体，所述永磁体与所述转子铁芯的表面固定，所述转子铁芯与所述外壳的内侧面固定；The permanent magnet direct-drive wind generator includes a stator and a rotor; the stator is sleeved on the outer circumference of the tower and fixed with the tower, the stator includes a stator iron core and a stator winding, the The stator winding is a three-phase winding; the rotor is an outer rotor, sleeved outside the stator, the rotor includes a rotor iron core and a permanent magnet, the permanent magnet is fixed with the surface of the rotor iron core, and the rotor iron the core is fixed with the inner side of the shell; 所述磁悬浮盘式电机位于所述永磁直驱型风力发电机的下方，包括盘式定子、盘式转子和螺纹圆盘；所述盘式定子由盘式悬浮铁芯和悬浮绕组组成，所述悬浮绕组为直流励磁绕组，所述盘式悬浮铁芯与所述螺纹圆盘固定，所述螺纹圆盘与所述塔架固定，所述气隙传感器贴装在所述盘式悬浮铁芯表面；所述盘式转子包括盘式转子铁芯和盘式转子绕组，所述盘式转子绕组为三相绕组，所述盘式转子铁芯与所述外壳的底部固定；The magnetic suspension disc motor is located below the permanent magnet direct drive wind generator, and includes a disc stator, a disc rotor and a threaded disc; the disc stator is composed of a disc suspension iron core and a suspension winding. The suspension winding is a DC excitation winding, the disk suspension iron core is fixed with the threaded disk, the threaded disk is fixed with the tower frame, and the air gap sensor is mounted on the disk suspension iron core surface; the disc rotor includes a disc rotor core and a disc rotor winding, the disc rotor winding is a three-phase winding, and the disc rotor core is fixed to the bottom of the casing; 所述风轮包括横向支架、叶片，所述横向支架的一端与所述叶片固定，另一端穿过所述外壳与所述桨矩调节电机的转轴固定，所述桨矩调节电机与所述外壳的内侧面固定；The wind wheel includes a transverse support and a blade, one end of the transverse support is fixed with the blade, and the other end is fixed with the rotating shaft of the pitch adjusting motor through the casing, and the pitch adjusting motor is fixed with the casing The inner side is fixed; 所述上端轴承位于所述外壳的顶部中央内侧，套装在所述塔架的外圆周上，且与所述塔架的顶端固定；所述下端轴承位于所述外壳的底部中央内侧，套装在所述塔架的外圆周上，与所述塔架固定；The upper end bearing is located on the inner side of the top center of the casing, is sleeved on the outer circumference of the tower frame, and is fixed with the top end of the tower frame; the lower end bearing is located at the inner side of the bottom center of the outer casing and is sleeved on the on the outer circumference of the tower, fixed with the tower; 所述变流器控制系统包括机侧变流器、网侧变流器、悬浮变流器、盘式电机转子侧变流器、桨矩变流器和蓄电池；所述机侧变流器的一端与所述永磁直驱型风力发电机的定子绕组相连，另一端分别与所述网侧变流器和所述悬浮变流器相连；所述网侧变流器的另一端通过变压器与电网相连；所述悬浮变流器的另一端与所述磁悬浮盘式电机的悬浮绕组相连；所述盘式电机转子侧变流器的一端与所述磁悬浮盘式电机的盘式转子绕组相连，另一端分别与所述桨矩变流器和所述蓄电池相连；所述桨矩变流器的另一端与所述桨矩调节电机相连；The converter control system includes a machine-side converter, a grid-side converter, a suspension converter, a disc motor rotor-side converter, a pitch converter and a battery; One end is connected to the stator winding of the permanent magnet direct-drive wind turbine, and the other end is connected to the grid-side converter and the suspension converter respectively; the other end of the grid-side converter is connected to the grid-side converter through a transformer. The other end of the suspension converter is connected to the suspension winding of the magnetic suspension disc motor; one end of the rotor side converter of the disc motor is connected to the disc rotor winding of the magnetic suspension disc motor, The other end is respectively connected with the pitch converter and the battery; the other end of the pitch converter is connected with the pitch adjusting motor; 所述永磁直驱型风力发电机的转子、所述磁悬浮盘式电机的盘式转子、所述风轮、所述桨矩调节电机以及所述外壳统称为旋转体。The rotor of the permanent magnet direct drive wind generator, the disk rotor of the magnetic levitation disk motor, the wind wheel, the pitch adjusting motor and the casing are collectively referred to as a rotating body. 2.一种如权利要求1所述的低风速双电机型磁悬浮垂直轴风电机组的控制方法，其特征在于，采用如下步骤：2. a control method of low wind speed dual motor type magnetic levitation vertical axis wind turbine as claimed in claim 1, is characterized in that, adopts following steps: 步骤1，启动：当风速Vw达到切入风速Vin时，启动所述网侧变流器，使其工作于整流模式，给所述悬浮变流器提供直流电源，然后调节所述悬浮变流器的输出电流，使通入所述磁悬浮盘式电机的悬浮绕组中的励磁电流逐渐增大，所述盘式定子产生的电磁吸力fe也将随之增大，直至使所述旋转体开始上升；然后将悬浮平衡点处的气隙长度设定值δref与所述气隙传感器实时测得的悬浮气隙长度δ之差经过控制算法调节器得到所述悬浮绕组的励磁电流给定值将此悬浮绕组励磁电流给定值输至所述悬浮变流器，所述悬浮变流器输出励磁电流if至所述悬浮绕组，使所述旋转体平稳上升至并保持在悬浮平衡点；Step 1, start: when the wind speed V w reaches the cut-in wind speed V in , start the grid-side converter to make it work in the rectification mode, provide DC power to the suspension converter, and then adjust the suspension converter The output current of the magnetic levitation disc motor will gradually increase the excitation current in the suspension winding of the magnetic levitation disc motor, and the electromagnetic attraction force fe generated by the disc stator will also increase accordingly, until the rotating body begins to Then, the difference between the air gap length setting value δ ref at the suspension balance point and the suspension air gap length δ measured in real time by the air gap sensor is passed through the control algorithm regulator to obtain the excitation current setting value of the suspension winding. The given value of the excitation current of this suspension winding It is input to the suspension converter, and the suspension converter outputs the excitation current i f to the suspension winding, so that the rotating body can be smoothly raised to and maintained at the suspension equilibrium point; 步骤2，最大功率点跟踪控制：当风速Vw处于切入风速Vin和额定风速VN之间时，即：Vin&lt;Vw≤VN，由所述悬浮变流器实施悬浮控制，确保所述旋转体在转动过程中保持在悬浮平衡点，所述永磁直驱型风力发电机以及所述磁悬浮盘式电机在风力作用下均开始发电；由所述机侧变流器对所述永磁直驱型风力发电机实施最大功率点跟踪控制，由所述网侧变流器实现并网；同时由所述盘式电机转子侧变流器对所述蓄电池实施充放电控制；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 , that is: V in &lt; V w ≤V N , the suspension control is implemented by the suspension converter, It is ensured that the rotating body is kept at the suspension balance point during the rotation process, and the permanent magnet direct-drive wind generator and the magnetic suspension disk motor both start to generate electricity under the action of wind; The permanent magnet direct-drive wind turbine implements maximum power point tracking control, and the grid-side converter realizes grid connection; at the same time, the disk-type motor rotor-side converter implements charge and discharge control for the battery; 步骤3，额定功率输出控制：当风速Vw处于额定风速VN和切出风速Vout之间时，即：VN&lt;Vw&lt;Vout，根据风速Vw大小，控制所述悬浮变流器、所述机侧变流器以及所述桨矩变流器，使所述永磁直驱型风力发电机输出功率保持为额定功率，具体方法为：Step 3, rated 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 , that is: V N &lt; V w &lt; V out , the suspension is controlled according to the wind speed V w The converter, the machine-side converter and the pitch converter keep the output power of the permanent magnet direct-drive wind generator at the rated power, and the specific method is as follows: 31)如果风速Vw大于额定风速VN，但小于设定风速VS，即：VN&lt;Vw&lt;VS，则采用旋转阻尼控制方法，即：控制所述悬浮变流器，使所述盘式定子产生的电磁吸力fe小于所述旋转体的重力mg，进而使所述外壳垂直降落至与所述塔架接触，所述外壳与所述塔架之间将产生摩擦力，则所述旋转体在旋转过程中将产生摩擦阻力矩Tf，即增大旋转阻尼；同时控制所述机侧变流器，按运动方程对所述永磁直驱型风力发电机的转速实施控制，从而确保所述永磁直驱型风力发电机输出额定功率；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 , that is: V N &lt; V w &lt; V S , the rotational damping control method is adopted, that is, the suspension converter is controlled, The electromagnetic suction force fe generated by the disk stator is made smaller than the gravity mg of the rotating body, so that the casing is vertically dropped to contact with the tower frame, and friction force will be generated between the casing and the tower frame , then the rotating body will generate a frictional resistance torque T f during the rotation process, that is, increase the rotational damping; at the same time, the machine-side converter is controlled, and the rotational speed of the permanent magnet direct-drive wind turbine is adjusted according to the equation of motion. implementing control to ensure that the permanent magnet direct-drive wind turbine outputs rated power; 32)如果风速Vw继续增大，但小于切出风速Vout，即：VS≤Vw≤Vout，则使所述悬浮变流器停止输出电流，从而使所述外壳完全降落在所述塔架上，即所述旋转体的重力全部作用在所述塔架上，使旋转阻尼增至最大；同时采用变桨距控制方法，即：由所述蓄电池给所述桨矩变流器提供直流电源，启动所述桨矩变流器，由所述桨矩变流器控制所述桨矩调节电机，驱动所述叶片转动，以改变所述叶片的桨距角，进而使所述风轮产生的风轮转矩变小，同时控制所述机侧变流器，按运动方程对所述永磁直驱型风力发电机的转速实施控制，从而确保所述永磁直驱型风力发电机输出额定功率；32) If the wind speed V w continues to increase, but is smaller than the cut-out wind speed V out , that is: V S ≤ V w ≤ V out , stop the output current of the suspension converter, so that the casing completely falls on the On the tower, that is, the gravity of the rotating body all acts on the tower, so that the rotational damping is increased to the maximum; at the same time, the pitch control method is adopted, that is, the pitch converter is supplied by the battery to the pitch converter. DC power supply is provided, the pitch converter is started, the pitch adjusting motor is controlled by the pitch converter, and the blade is driven to rotate to change the pitch angle of the blade, thereby making the wind The torque of the wind wheel generated by the wind turbine becomes smaller, and at the same time, the machine-side converter is controlled to control the rotational speed of the permanent magnet direct drive wind generator according to the equation of motion, so as to ensure the permanent magnet direct drive wind power generation. machine output rated power; 步骤4，当风速大于切出风速时，即Vw&gt;Vout，控制所述桨矩变流器，使所述桨矩调节电机驱动所述叶片转动，使所述叶片处于完全顺桨状态，使之进入停机状态。Step 4: When the wind speed is greater than the cut-out wind speed, that is, V w &gt; V out , control the pitch converter, so that the pitch adjusting motor drives the blades to rotate, so that the blades are in a fully feathered state , so that it enters the shutdown state. 3.根据权利要求2所述低风速双电机型磁悬浮垂直轴风电机组的控制方法，其特征在于，所述步骤3中的摩擦阻力矩为：3. the control method of the low wind speed dual motor type magnetic suspension vertical axis wind turbine according to claim 2, is characterized in that, the frictional resistance torque in described step 3 is: Tf＝f×R＝kF×RT f =f×R=kF×R 式中，f为所述外壳与所述塔架之间的摩擦力，R为塔架半径，k为摩擦系数，F为所述旋转体作用在所述塔架上的垂直方向上的合力，且有F＝mg-fe，其中mg为所述旋转体的重力，fe为所述盘式定子产生的电磁吸力。In the formula, f is the frictional force between the casing and the tower, R is the radius of the tower, k is the friction coefficient, F is the resultant force of the rotating body acting on the tower in the vertical direction, And there is F=mg-fe, wherein mg is the gravity of the rotating body, and f e is the electromagnetic attraction force generated by the disc stator. 4.根据权利要求2所述低风速双电机型磁悬浮垂直轴风电机组的控制方法，其特征在于，所述步骤3中的运动方程为：4. according to the control method of the described low wind speed dual motor type magnetic levitation vertical axis wind turbine of claim 2, it is characterized in that, the equation of motion in described step 3 is: 式中，Tm为风力作用于所述风轮而产生的风轮转矩，Te1为所述永磁直驱型风力发电机的电磁转矩，Te2为所述磁悬浮盘式电机的电磁转矩，Tf为摩擦阻力矩，J为所述旋转体的转动惯量，ωm为所述旋转体的机械角速度。In the formula, T m is the wind rotor torque generated by the wind acting on the wind rotor, T e1 is the electromagnetic torque of the permanent magnet direct-drive wind turbine, and T e2 is the electromagnetic suspension of the magnetic levitation disc motor. torque, T f is the frictional resistance torque, J is the moment of inertia of the rotating body, and ω m is the mechanical angular velocity of the rotating body.
CN201811349735.XA 2018-11-13 2018-11-13 Low wind speed dual motor type maglev vertical axis wind turbine and its control method Pending CN109306934A (en)

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CN109944744B (en) * 2019-04-25 2023-05-12 曲阜师范大学 Offshore Maglev Vertical Axis Wind Seawater Desalination System
CN110131100B (en) * 2019-04-25 2023-07-07 曲阜师范大学 Vertical axis four-point pneumatic suspension wind power generation system
CN109980675B (en) * 2019-04-25 2024-01-05 曲阜师范大学 Double-fed magnetic suspension vertical axis wind power generation system for flexible direct current transmission and control method thereof
CN112096571A (en) * 2020-10-05 2020-12-18 曲阜师范大学 A high-power vertical axis wind turbine and its control method
CN112234794A (en) * 2020-10-29 2021-01-15 杭州新峰恒富科技有限公司 Disk type magnetic levitation direct drive power device and mixer using the same
CN120120184A (en) * 2025-04-09 2025-06-10 凡实新能源科技(山东)有限公司 An automatic regulating magnetic suspension wind turbine generator set
CN120120184B (en) * 2025-04-09 2025-11-28 凡实新能源科技(山东)有限公司 Automatic regulation type magnetic suspension wind generating set

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