CN109944822A - Rotating-speed tracking purpose optimal method based on limitation reference rotation velocity change rate - Google Patents
Rotating-speed tracking purpose optimal method based on limitation reference rotation velocity change rate Download PDFInfo
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- CN109944822A CN109944822A CN201811335715.7A CN201811335715A CN109944822A CN 109944822 A CN109944822 A CN 109944822A CN 201811335715 A CN201811335715 A CN 201811335715A CN 109944822 A CN109944822 A CN 109944822A
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Abstract
The invention discloses a kind of rotating-speed tracking purpose optimal methods based on limitation reference rotation velocity change rate, aiming at the problem that large rotating inertia blower under low wind speed is difficult to timely respond to the quick variation of turbulent flow wind speed and it is caused not catch up with optimized rotating speed, this method is on the basis of traditional tip speed ratio method, devise a low-pass filter first, realize in optimized rotating speed signal noise and high-frequency signal filter；The rate of change of smooth rear optimized rotating speed is limited simultaneously, to obtain reference rotation velocity；Tracking of the blower to reference rotation velocity is finally realized by controller.By optimizing reference rotation velocity, enables the controller of blower to match the slow motion step response of blower, can satisfy the requirement of load limitation and generator electromagnetic torque limit value during tracking, reach expected and control target.The present invention effectively increases Wind energy extraction efficiency while guaranteeing blower tracking effect.
Description
Technical field
The invention belongs to air-blower control fields, and in particular to a kind of rotating-speed tracking mesh based on limitation reference rotation velocity change rate
Mark optimization method.
Background technique
Currently, speed-changing draught fan, which generally uses MPPT control to realize, maximizes Wind energy extraction.However, rotation is used greatly under low wind speed
There is amount blower the slow motion step response for being difficult to overcome to cause it with not therefore, it is difficult to timely respond to the quick variation of turbulent flow wind speed
Upper optimized rotating speed can not obtain theoretic optimal wind energy usage factor.
Existing research is mostly the design and improvement of rotating-speed tracking controller, improves large rotating inertia blower dynamic property side
There are two types of formulas: one is uneven torque is increased, another kind is distance needed for reducing tracking.Both modes are to blower
Dynamic property makes moderate progress, although improving efficiency, has also paid the cost of load raising.Therefore, be confined to revolving speed with
This kind of methods of track controller are often difficult to take into account efficiency and load.
The simulating, verifying part that MPPT control research is repeatedly appeared in the way that reference rotation velocity carries out smothing filtering, is used for
Reference input pretreatment in control strategy realization.Obviously, the way of filtering can be such that the reference rotation velocity of blower actual tracking deviates
Its optimal value, but it is possible to prevente effectively from the electromagnetic torque or power of blower exceed its adjustable range, and it can effectively limit load
Lotus, while also improving effect to the Wind energy extraction efficiency of blower.
Further study show that the smooth reference rotation velocity of low-pass filtering is used only, when wind speed changes greatly, reference rotation velocity becomes
Rate still has the larger rotating-speed tracking ability that may exceed blower itself.To find out its cause, the slow motion step response major embodiment of blower
It is limited in the change rate of wind speed round.Therefore it needs to make reference rotation velocity further limitation, enables rotating-speed tracking target
Match the slow motion step response of large rotating inertia blower.
Summary of the invention
The purpose of the present invention is to provide it is a kind of based on limitation reference rotation velocity change rate rotating-speed tracking purpose optimal method,
By designing low-pass filter, while the rate of change of revolving speed is limited, reference rotation velocity is optimized, so that the control of blower
Device can match the slow motion step response of blower, while guaranteeing blower tracking effect, effectively increase Wind energy extraction efficiency.
The technical solution for realizing the aim of the invention is as follows: a kind of rotating-speed tracking mesh based on limitation reference rotation velocity change rate
Mark optimization method, comprising the following steps:
Step 1 obtains wind speed, wind speed round；
Step 2 calculates pneumatic torque, theoretical optimized rotating speed；
Step 3 carries out smothing filtering to optimized rotating speed, obtains smoothed out optimized rotating speed；
The relative speed variation of optimized rotating speed, obtains reference rotation velocity after step 4, limitation are smooth；
Step 5, according to reference rotation velocity, wind speed round and pneumatic torque, calculated using Nonlinear Dynamic feedback controller
To reference electromagnetic torque.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) the invention proposes one kind based on limitation reference rotation velocity
The rotating-speed tracking purpose optimal method of change rate solves the problems, such as that rotating-speed tracking target and blower slow motion step response are unmatched；
(2) present invention effectively increases Wind energy extraction efficiency while guaranteeing blower tracking effect.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the rotating-speed tracking purpose optimal method flow chart of the invention based on limitation reference rotation velocity change rate.
Fig. 2 is the simulation result of validity of the present invention, and wherein Fig. 2 (a) is that the present invention emulates obtained optimized rotating speed, reference
Revolving speed and wind wheel actual speed；The optimized rotating speed and actual speed that Fig. 2 (b) conventional method emulates；Fig. 2 (c) is the present invention
The electromagnetic torque comparison diagram of mentioned method and conventional method.
Specific embodiment
As shown in Figure 1, a kind of rotating-speed tracking purpose optimal method based on limitation reference rotation velocity change rate, including following step
It is rapid:
Step 1 obtains wind speed v, wind speed round ωr；
Step 2 calculates pneumatic torque Tr, theoretical optimized rotating speed ωopt；
Step 3 carries out smothing filtering to optimized rotating speed, obtains smoothed out optimized rotating speed ωf.ref；
Step 4, limitation ωf.refRelative speed variation obtains reference rotation velocity ωref；
Step 5, according to reference rotation velocity ωref, wind speed round ωrWith pneumatic torque Tr, utilize Nonlinear Dynamic feedback control
Reference electromagnetic torque T is calculated in deviceg.ref。
Further, the pneumatic torque T in step 2r, theoretical optimized rotating speed ωoptSpecific calculation is as follows:
The capture power of wind wheel are as follows:
Pr=0.5 ρ π R2v3Cp(λ,β) (1)
Wherein: ρ is atmospheric density；R is wind wheel radius；V is wind speed；CpFor power coefficient, fixed in propeller pitch angle β
When, it is tip speed ratio λ=ωrThe function of R/v, the present invention in propeller pitch angle be taken as 0；ωrFor wind speed round；
The pneumatic torque of wind wheel can be calculated by following formula:
Theoretical optimized rotating speed can be calculated by following formula:
Wherein: λoptIt is optimal tip speed ratio.
Further, in step 3 smothing filtering concrete form:
For the slow motion step response for making rotating-speed tracking object matching blower, realized pair in the present invention using order digital filter
Optimized rotating speed it is smooth, time-domain expression is as follows:
ωf.ref(k)=(1- αf)ωopt(k)+αfωf.ref(k-1) (4)
Wherein: ωf.refFor smoothed out optimized rotating speed；αfFor filter factor, 0.99 is taken in the present invention；K is discrete time
Step-length.
Further, the concrete form based on limitation reference rotation velocity change rate in step 4:
Wherein: k is discrete time step, and U and L respectively indicate the upper bound and the lower bound of reference rotation velocity variation, under normal conditions U
> 0 and L < 0 are to guarantee that blower can change with wind speed and accelerate and slow down；For the slow motion for making rotating-speed tracking object matching blower
The value of step response, U and L should meet to be set up with lower inequality at any time:
Wherein: DtFor wind wheel damping；JtFor wind wheel rotary inertia；ngFor the transmission ratio of gear-box；[tk-1, tk] be it is discrete when
Between section；Tg.maxAnd Tg.minThe respectively maximum value and minimum value of electromagnetic torque.
Further, in step 5 Nonlinear Dynamic feedback controller concrete form:
The first differential of reference electromagnetic torque can be obtained by following formula:
Wherein: ε=ωr-ωrefIndicate rotating-speed tracking error；b0And b1Need to meet multinomial s2+b1s+b0It is Hurwitz
Multinomial.
Further detailed description is done to the present invention below with reference to embodiment:
Embodiment
Utilize American National Ministry of Energy renewable energy laboratory (National Renewable Energy
Laboratory, NREL) provide open source professional wind mill simulation software FAST (Fatigue, Aerodynamics,
Structures, and Turbulence) simulate control effect.Wind energy conversion system model uses the 600kW CART3 of NREL exploitation
Type is tested, design parameter is as shown in table 1.
1 NREL 600kW CART3 wind energy conversion system major parameter of table
For the slow motion step response for making rotating-speed tracking object matching blower, realized pair in the present invention using order digital filter
Optimized rotating speed it is smooth, time-domain expression is as follows:
ωf.ref(k)=(1- αf)ωopt(k)+αfωf.ref(k-1) (8)
Wherein: ωf.refFor smoothed out optimized rotating speed；αfFor filter factor；K is discrete time step.
The relative speed variation of smooth rear optimized rotating speed is limited, rotating-speed tracking target, i.e. reference rotation velocity ω are obtainedref:
Wherein: k is discrete time step, and U and L respectively indicate the upper bound and the lower bound of reference rotation velocity variation, under normal conditions U
> 0 and L < 0 are to guarantee that blower can change with wind speed and accelerate and slow down.For the slow motion for making rotating-speed tracking object matching blower
The value of step response, U and L should meet to be set up with lower inequality at any time:
Wherein: TrFor pneumatic torque；DtFor wind wheel damping；JtFor wind wheel rotary inertia；ngFor the transmission ratio of gear-box；
[tk-1, tk] it is discrete time section；Tg.maxAnd Tg.minThe respectively maximum value and minimum value of electromagnetic torque.
Then electromagnetic torque reference value is obtained using Nonlinear Dynamic feedback controller.Detailed process is as shown in Figure 1.
The mentioned method of the present invention is compared with traditional tip speed ratio method, to illustrate the important of rotating-speed tracking target
Property, controller used thereby is identical in comparison process.
The turbulent flow wind speed for choosing 600s, is emulated with two methods, simulation result is as shown in Figure 2 respectively.Fig. 2 (a) is
The simulation result of the mentioned optimization method of the present invention, respectively optimized rotating speed, reference rotation velocity and wind wheel actual speed；Fig. 2 (b) is to pass
System method emulates acquired results, and in conventional method, reference rotation velocity is optimized rotating speed, because slow existing for large rotating inertia blower
Dynamic characteristic, so actual speed is difficult to perfect track reference revolving speed；And to reference rotation velocity in the optimization method that the present invention is mentioned
Filtering and the limitation of change rate are carried out, so the reference rotation velocity of optimization can match the slow motion step response of blower；In Fig. 2 (c)
The comparison of the electromagnetic torque of optimizing application method and conventional method, it can be seen that the electromagnetic torque change rate under conventional method is bigger,
This can increase the abrasion of transmission shaft.By limiting the change rate of reference rotation velocity, electromagnetic torque it has been equivalent to indirectly smooth, has reduced
The fluctuation of load.
Under the wind series of this 600s, the Wind energy extraction efficiency of conventional method is 42.85%, and the present invention mentions optimization side
Method is 43.02%.As it can be seen that the rotating-speed tracking objective optimization side based on limitation reference rotation velocity change rate mentioned using the present invention
Method reduces the fluctuation of load, also improves to Wind energy extraction efficiency while guaranteeing blower tracking effect.
Claims (5)
1. a kind of rotating-speed tracking purpose optimal method based on limitation reference rotation velocity change rate, which is characterized in that including following step
It is rapid:
Step 1 obtains wind speed, wind speed round；
Step 2 calculates pneumatic torque, theoretical optimized rotating speed；
Step 3 carries out smothing filtering to optimized rotating speed, obtains smoothed out optimized rotating speed；
The relative speed variation of optimized rotating speed, obtains reference rotation velocity after step 4, limitation are smooth；
Step 5, according to reference rotation velocity, wind speed round and pneumatic torque, ginseng is calculated using Nonlinear Dynamic feedback controller
Examine electromagnetic torque.
2. the rotating-speed tracking purpose optimal method according to claim 1 based on limitation reference rotation velocity change rate, feature
It is, the pneumatic torque T in step 2r, theoretical optimized rotating speed ωoptCircular is as follows:
The capture power of wind wheel are as follows:
Pr=0.5 ρ π R2v3Cp(λ,β) (1)
Wherein, ρ is atmospheric density, and R is wind wheel radius, and v is wind speed；CpFor power coefficient, when propeller pitch angle β is fixed, it is
Tip speed ratio λ=ωrThe function of R/v；ωrFor wind speed round；
The pneumatic torque of wind wheel is calculated by following formula:
Theoretical optimized rotating speed is calculated by following formula:
Wherein, λoptFor optimal tip speed ratio.
3. the rotating-speed tracking purpose optimal method according to claim 1 based on limitation reference rotation velocity change rate, feature
It is, smothing filtering in step 3 method particularly includes:
Smothing filtering is carried out to optimized rotating speed using order digital filter, time-domain expression is as follows:
ωf.ref(k)=(1- αf)ωopt(k)+αfωf.ref(k-1) (4)
Wherein, ωf.refFor smoothed out optimized rotating speed, αfFor filter factor, k is discrete time step.
4. the rotating-speed tracking purpose optimal method according to claim 1 based on limitation reference rotation velocity change rate, feature
It is, reference rotation velocity ω in step 4refAre as follows:
Wherein, k is discrete time step, and U and L respectively indicate the upper bound and the lower bound of reference rotation velocity variation, and the value of U and L should expire
Foot is set up with lower inequality at any time:
Wherein, DtFor wind wheel damping, JtFor wind wheel rotary inertia, ngFor the transmission ratio of gear-box, [tk-1, tk] it is discrete time section,
Tg.maxAnd Tg.minThe respectively maximum value and minimum value of electromagnetic torque.
5. the rotating-speed tracking purpose optimal method according to claim 1 based on limitation reference rotation velocity change rate, feature
It is, reference electromagnetic torque is calculated using Nonlinear Dynamic feedback controller in step 5 method particularly includes:
The first differential of reference electromagnetic torque is obtained by following formula:
Wherein, ε=ωr-ωrefIndicate rotating-speed tracking error, b0And b1Meet s2+b1s+b0It is Hurwitz multinomial.
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Citations (5)
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| JP2008138636A (en) * | 2006-12-05 | 2008-06-19 | Tokyo Metropolitan Univ | Wind power generation system |
| CN102352814A (en) * | 2011-06-21 | 2012-02-15 | 北京交通大学 | Maximum power tracking method of large directly-driven wind turbine |
| CN104929863A (en) * | 2015-04-28 | 2015-09-23 | 广州市香港科大霍英东研究院 | Wind power generation maximum power point tracking method based on improved hill climbing algorithm |
| CN105201741A (en) * | 2015-11-10 | 2015-12-30 | 海南电网有限责任公司 | Coordinating and smoothing control method for wind turbine generator and energy storing device |
| CN107218175A (en) * | 2017-06-23 | 2017-09-29 | 南京理工大学 | It is a kind of to realize the rotating-speed tracking purpose optimal method that wind energy conversion system maximizes Wind energy extraction efficiency |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008138636A (en) * | 2006-12-05 | 2008-06-19 | Tokyo Metropolitan Univ | Wind power generation system |
| CN102352814A (en) * | 2011-06-21 | 2012-02-15 | 北京交通大学 | Maximum power tracking method of large directly-driven wind turbine |
| CN104929863A (en) * | 2015-04-28 | 2015-09-23 | 广州市香港科大霍英东研究院 | Wind power generation maximum power point tracking method based on improved hill climbing algorithm |
| CN105201741A (en) * | 2015-11-10 | 2015-12-30 | 海南电网有限责任公司 | Coordinating and smoothing control method for wind turbine generator and energy storing device |
| CN107218175A (en) * | 2017-06-23 | 2017-09-29 | 南京理工大学 | It is a kind of to realize the rotating-speed tracking purpose optimal method that wind energy conversion system maximizes Wind energy extraction efficiency |
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