CN110263477B - Blade tip speed ratio acquisition method of wind generating set - Google Patents

Blade tip speed ratio acquisition method of wind generating set Download PDF

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Publication number
CN110263477B
CN110263477B CN201910575718.6A CN201910575718A CN110263477B CN 110263477 B CN110263477 B CN 110263477B CN 201910575718 A CN201910575718 A CN 201910575718A CN 110263477 B CN110263477 B CN 110263477B
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wind
speed ratio
torque
tip speed
impeller
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CN110263477A (en
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张硕望
黄凌翔
曹俊伟
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Xiangtan Electric Manufacturing Co Ltd
XEMC Windpower Co Ltd
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Xiangtan Electric Manufacturing Co Ltd
XEMC Windpower Co Ltd
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • 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
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    • 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

Abstract

The invention discloses a method for acquiring a tip speed ratio of a wind generating set, which comprises the following steps: constructing a transmission chain observer, and obtaining the real state of the original transmission chain system from the final observation result by using a Kalman observer; the method comprises the steps of obtaining the rotating speed of an impeller hub and the torque of a generator of a wind generating set through a sensor, and obtaining the aerodynamic torque actually absorbed by the impeller; establishing a mapping relation between the pneumatic torque of the wind driven generator and the tip speed ratio of the wind driven generator; and obtaining the tip speed ratio through a polynomial function of scattered point fitting of the quadric surface. According to the wind turbine control system, the wind speed acquisition and wind speed estimation part is directly reduced through analysis of the essential characteristics of the physical system of the wind turbine, the effective tip speed ratio of the wind turbine of the wind power plant can be obtained in the real-time running environment of the wind turbine control system, the control precision of the wind turbine is improved, the overall performance of the wind turbine is improved, and the real-time performance, the effectiveness and the reliability of the wind turbine control system are enhanced.

Description

Blade tip speed ratio acquisition method of wind generating set
Technical Field
The invention relates to the field of wind power, in particular to a method for obtaining a tip speed ratio of a wind generating set.
Background
Wind energy is a green energy source, and wind power generation has important significance for protecting ecological environment and improving energy structure. The wind generating set is a complex nonlinear multivariable system, and the real-time performance and the reliability of a control system scheme are keys for effectively ensuring the safe and efficient operation of the wind generating set.
In actual operation, different wind farms are quite different in topography, model, arrangement, wind frequency distribution and the like, and the generated energy and the safety are the most important factors for determining the operation characteristics of the wind generating set of the wind farm. How to realize maximum efficiency of absorbing wind energy and ensure safety and stability of the wind driven generator is a basic design problem of the wind driven generator.
In order to improve the maximum power tracking performance of the wind driven generator, the scholars propose a maximum power tracking controller method based on the tip speed ratio, and the basic idea of the method is to discard the previous torque tracking by using static gain and convert the maximum power point tracking problem into the optimal tip speed ratio tracking problem. Meanwhile, the tip speed ratio can also be used as a basic index for ensuring the safety of the wind driven generator.
The current optimal tip speed ratio method is one of the main methods for realizing maximum power tracking, the traditional design thinking is that reliable wind speed is firstly obtained to obtain the tip speed ratio, the tip speed ratio is calculated on the basis of wind speed measurement, and then the corresponding optimal torque is obtained according to the optimal tip speed ratio.
At present, two methods are generally used for acquiring wind speed information: one type uses anemometers or uses laser radar anemometers. Because the wind turbine is in the wind flow field environment when actually running, the wind speed is unevenly distributed on the whole plane of the fan impeller, and is influenced by tower shadows, wind turbulence, air temperature and the like. The anemometer can only measure the wind speed at a certain point behind the impeller, and cannot represent the effective wind speed, and meanwhile, the measuring error after being disturbed by the movement of the impeller is larger and the effective wind speed suffered by the whole wind turbine rotating plane is larger different. The use of laser radar anemometry is expensive, in addition, the laser radar has uncertain factors such as wind flow field evolution calculation and the like, which is not beneficial to large-scale application. Another type utilizes the physical characteristics of the wind power generator system and the wind energy utilization coefficient Cp to design an observer for wind speed observation. The main defect of the mode is that the wind energy utilization coefficient Cp is used, and the problem that the accuracy of solving the time-consuming partial region is poor due to the fact that the multi-value solution exists in the partial region of the wind energy utilization coefficient Cp, so that the practical available wind speed interval is limited. Therefore, wind turbine generator set control based on the above manner is not an ideal reliable method.
Disclosure of Invention
In order to solve the technical problems, the invention provides a wind generating set tip speed ratio acquisition method with simple algorithm and high calculation accuracy.
The technical scheme for solving the problems is as follows: a method for acquiring tip speed ratio of a wind generating set comprises the following steps:
step one: constructing a transmission chain observer, and obtaining the real state of the original transmission chain system from the final observation result by using a Kalman observer;
step two: the rotation speed omega of the impeller hub is obtained through a sensor r And the generator torque Tg of the wind generating set to obtain the aerodynamic torque Ta actually absorbed by the impeller;
step three: establishing a mapping relation between aerodynamic torque Ta of a wind driven generator and tip speed ratio lambda of the wind driven generator;
step four: and obtaining the tip speed ratio lambda through a polynomial function of scattered point fitting of the quadric surface.
According to the wind generating set blade tip speed ratio obtaining method, the power characteristics of the equivalent transmission chain of the fan are represented by the following equation set:
Figure BDA0002112017440000031
Figure BDA0002112017440000032
where Je represents the equivalent moment of inertia,
Figure BDA0002112017440000033
represents the acceleration of a fan hub, ta is the pneumatic torque actually absorbed by an impeller, tg represents the torque of a fan generator, tloss represents the torque loss of the fan, pg represents the power of the fan generator, and omega r Indicating the rotational speed of the fan hub.
The blade tip speed ratio obtaining method of the wind generating set comprises the following specific steps:
the observation expression of the linear time-varying system of the drive chain of the wind driven generator is assumed to be:
dx(t)＝(A(t)x(t)+B(t)u(t))dt+dn(t)
y(t k )＝H(t k )x(t k )+D(t k )u(t k )+v(t k )
wherein dx (t) is the first-order derivative of the system state at the time t, A (t) is the state matrix of the fan system at the time t, B (t) is the input matrix of the fan system at the time t, x (t) is the state quantity of the system at the time t, u (t) is the system input at the time t, dt is the derivative time, dn (t) is the noise interference term at the time t;
y(t k ) At t k System output at time, H (t k ) At t for fan system k Time Kalman observation output matrix, D (t k ) At t for fan system k Kalman observation feedforward matrix of time, x (t k ) At t for the system k State quantity of time, u (t k ) At t k System input of time of day, v (t k ) At t k Observing noise interference items at the moment;
given its initial measurement value and its actual measurement data
y(t 0 ),y(t 1 ),y(t 2 ),…,u(t),t≥t 0
Figure BDA0002112017440000034
In the above, y (t) 0 ),y(t 1 ),y(t 2 ) At t for the system 0 、t 1 、t 2 The output of the moment of time,
Figure BDA0002112017440000035
representing an estimate of the initial state of the system +.>
Figure BDA0002112017440000036
Is indicated at->
Figure BDA0002112017440000037
Time of day system state estimation,/->
Figure BDA0002112017440000038
Is indicated at->
Figure BDA0002112017440000039
Time-of-day Kalman matrix, P 0 A Kalman matrix representing an initial state;
for practical fan systems, use is made oft k Updating the observation result of the update state of the real sensor value at the moment to obtain
Figure BDA00021120174400000310
Observation result->
Figure BDA00021120174400000311
The true state of the original transmission chain system is obtained, wherein the true state comprises the observation value of the rotation speed of the impeller hub +.>
Figure BDA0002112017440000041
Impeller acceleration observations +.>
Figure BDA0002112017440000042
In the second step, the kalman observer in the first step is used, and the engineering deviation is considered to further obtain the following expression:
Figure BDA0002112017440000043
where k represents the kth moment, je is the total equivalent torque of the hub,
Figure BDA0002112017440000044
for observing the acceleration of the impeller +.>
Figure BDA0002112017440000045
Tloss is the system efficiency loss torque, which is an observed value of the aerodynamic torque actually absorbed by the impeller.
The blade tip speed ratio obtaining method of the wind generating set comprises the following specific steps:
the torque coefficient Cq of the induced wind generating set is defined as follows:
Figure BDA0002112017440000046
wherein the method comprises the steps ofCq (lambda, theta) is the torque coefficient of the wind power generator, ρ is the air density, v e The wind speed of the impeller is equivalent, S is equivalent wind sweeping area of the impeller, R is equivalent radius of the impeller, the tip speed ratio lambda is used for representing the state of the impeller at different wind speeds, and the tip speed ratio lambda of the wind driven generator is defined as follows:
Figure BDA0002112017440000047
v e ＝ω r Rλ
the torque coefficient Cq equation is synthesized and wind speed related parameters are removed, wherein:
Figure BDA0002112017440000048
the torque coefficient Cq (λ, θ) <1 of the wind power generator is a coefficient representing the obtained rotational torque of the wind power generator under the action of an external wind flow field, which is a nonlinear curved function with respect to the tip speed ratio λ and the pitch angle θ;
separating the aerodynamic torque Ta from the above expression yields:
Figure BDA0002112017440000049
Figure BDA00021120174400000410
in the method, in the process of the invention,
Figure BDA0002112017440000051
is indicated at->
Figure BDA0002112017440000052
Solving lambda under the condition;
let ta=ta (λ, θ, ωr) be the value of tip speed ratio λ, hub rotational speed ω r And a pitch angle θ;
during the actual operation of the wind driven generator, the rotation speed omega of the hub is used r The pitch angle θ can be measured at each sampling period, so that the hub rotational speed ω is used when the Cq (λ, θ) surface is known r And calculating the blade tip speed ratio lambda by obtaining aerodynamic torque Ta through the pitch angle theta and the mode of the step three.
The blade tip speed ratio obtaining method of the wind generating set comprises the following specific steps:
for an actually running wind generator, the Cq (λ, θ) surface is known, and for mathematically expressing the Cq (λ, θ) surface, the engineering uses the following expression to obtain its piecewise fit:
Figure BDA0002112017440000053
wherein m is a discrete point obtained by discretizing the pitch angle theta, n is a polynomial curve fitting order, alpha is each coefficient, and theta m Is the mth theta discrete point, alpha m,n An nth term lambda coefficient representing the discrete point of θ at the mth;
when the pitch angle theta is different determined values, the wind energy utilization coefficient Cq forms a cluster of curves with respect to the tip speed ratio lambda, a polynomial with the tip speed ratio lambda as an independent variable is fitted according to Cq (lambda) piecewise curves under different values of theta, an expression of the aerodynamic torque Ta with respect to the effective wind speed lambda is obtained, and finally the optimal estimation of lambda is found through iterative calculation;
considering the fan aerodynamic torque observed value obtained by estimation in the step three
Figure BDA0002112017440000054
And a mapping relation ta=ta (λ, θ, ωr) of aerodynamic torque Ta obtained in the fourth step with respect to tip speed ratio λ, including:
Figure BDA0002112017440000055
Figure BDA0002112017440000056
wherein k represents the kth time, and the observed value of the aerodynamic torque obtained in the second step
Figure BDA0002112017440000057
And the observed value of the rotation speed of the impeller hub obtained in the step one +.>
Figure BDA0002112017440000061
Are known values, as are the impeller radius R and air density ρ for a particular fan system, so the tip speed ratio λ observation at the present time is the only variable.
The invention has the beneficial effects that: firstly, constructing a transmission chain observer, and obtaining the real state of an original transmission chain system from a final observation result by using a Kalman observer; then the rotation speed omega of the impeller hub is obtained through a sensor r And the generator torque Tg of the wind generating set to obtain the aerodynamic torque Ta actually absorbed by the impeller; then establishing a mapping relation between aerodynamic torque Ta of the wind driven generator and tip speed ratio lambda of the wind driven generator; finally, the tip speed ratio lambda is obtained through a polynomial function of scattered point fitting of a quadric surface, and the wind speed obtaining and wind speed estimating part is directly reduced through analyzing the essential characteristics of a physical system of the wind driven generator, so that the effective tip speed ratio of the wind driven generator set of the wind power plant can be obtained under the online real-time operation environment of a control system of the wind driven generator, the control precision of the wind driven generator set is improved, the overall performance of the fan is improved, the instantaneity, the effectiveness and the reliability of the control system of the fan are enhanced, and basic application support can be provided for economic benefit analysis, overall operation stability analysis of the wind power plant and the like.
Drawings
FIG. 1 is a schematic diagram of a drive train of a wind turbine.
The torque coefficient Cq (lambda, theta) of the wind driven generator at different values of the pitch angle theta is a schematic diagram of a characteristic curve cluster.
FIG. 3 is a flow chart of a method of obtaining tip speed ratios for a wind turbine generator system.
FIG. 4 illustrates an on-line tip speed ratio calculation experiment.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in the schematic diagram of the driving chain of the wind driven generator in FIG. 1, the wind flow field acts on the fan impeller at a certain speed, the equivalent rotational inertia of the impeller and the hub is Je, and the impeller is driven to rotate to generate the rotational speed omega r Simultaneously, the pneumatic power Pa=Ta×ωr is generated to act on a transmission chain, and the transmission chain drives a generator to operate to generate electric power Pg=Tg×ω r . For the wind generating set, the wind generating set control system needs to accurately adjust the output electric power Pg according to the pneumatic power Pa absorbed by the impeller, so that the fan system maintains a balanced state. The premise of accurately adjusting the output electric power Pg is to obtain an accurate tip speed ratio lambda and adjust the generator torque Tg in real time by using the tip speed ratio lambda. Therefore, to achieve the control goal of high efficiency and reliability of the wind generating set, the acquisition of the tip speed ratio lambda is important.
The implementation of the invention requires acquisition of the rotation speed omega of the impeller hub of the wind generating set r And the generator torque Tg of the wind generating set. In particular, the generator output active power Pg of the wind power plant can be used instead when the generator torque Tg of the wind power plant is not available, in the alternative tg= (Pg/ω) r )。
Due to the impeller hub rotational speed omega of the wind generating set r From the sensor, the influence of various disturbances on the sensor signal needs to be fully considered in engineering application, so that the collected impeller hub rotating speed omega of the wind generating set is required r The high frequency part is filtered by a low pass filter.
A method for acquiring tip speed ratio of a wind generating set comprises the following steps:
step one: constructing a drive train observer, and obtaining the real state of the original drive train system from the final observation result by using a Kalman observer.
The power characteristics of the equivalent transmission chain of the fan are expressed by the following equation:
Figure BDA0002112017440000071
Figure BDA0002112017440000072
where Je represents the equivalent moment of inertia,
Figure BDA0002112017440000073
represents the acceleration of a fan hub, ta is the pneumatic torque actually absorbed by an impeller, tg represents the torque of a fan generator, tloss represents the torque loss of the fan, pg represents the power of the fan generator, and omega r Indicating the rotational speed of the fan hub.
In order to reliably obtain the real state of a transmission chain system in an actual control system of a fan, a discrete time Kalman observer is constructed as follows:
the observation expression of the linear time-varying system of the drive chain of the wind driven generator is assumed to be:
dx(t)＝(A(t)x(t)+B(t)u(t))dt+dn(t)
y(t k )＝H(t k )x(t k )+D(t k )u(t k )+v(t k )
wherein dx (t) is the first-order differentiation of the system state at the moment t, A (t) is the state matrix of the fan system at the moment t, B (t) is the input matrix of the fan system at the moment t, x (t) is the state quantity of the system at the time t, u (t) is the system input at the time t, dt is the differential time, dn (t) is the noise interference term at the time t;
y(t k ) At t k System output at time, H (t k ) At t for fan system k Time Kalman observation output matrix, D (t k ) At t for fan system k Kalman observation feedforward matrix of time, x (t k ) At t for the system k State quantity of time, u (t k ) At t k System input of time of day, v (t k ) At t k Observing noise interference items at the moment;
given its initial measurement value and its actual measurement data
y(t 0 ),y(t 1 ),y(t 2 ),…,u(t),t≥t 0
Figure BDA0002112017440000081
In the above, y (t) 0 ),y(t 1 ),y(t 2 ) At t for the system 0 、t 1 、t 2 The output of the moment of time,
Figure BDA0002112017440000082
representing an estimate of the initial state of the system +.>
Figure BDA0002112017440000083
Is indicated at->
Figure BDA0002112017440000084
Time of day system state estimation,/->
Figure BDA0002112017440000085
Is indicated at->
Figure BDA0002112017440000086
Time-of-day Kalman matrix, P 0 A Kalman matrix representing an initial state; t is t 0 And->
Figure BDA0002112017440000087
Representing two different moments, +.>
Figure BDA0002112017440000088
Is the ratio t 0 At a later time, to indicate an initial state.
For an actual fan system, use t k Updating the observation result of the update state of the real sensor value at the moment to obtain
Figure BDA0002112017440000089
Observation result->
Figure BDA00021120174400000810
The true state of the original transmission chain system is obtained, wherein the true state comprises the observation value of the rotation speed of the impeller hub +.>
Figure BDA00021120174400000811
Impeller acceleration observations +.>
Figure BDA00021120174400000812
Step two: the rotation speed omega of the impeller hub is obtained through a sensor r And the generator torque Tg of the wind generating set to obtain the aerodynamic torque Ta actually absorbed by the impeller.
Using the kalman observer in step one and taking into account engineering deviations, the following expression is further obtained:
Figure BDA00021120174400000813
where k represents the kth moment, je is the total equivalent torque of the hub,
Figure BDA00021120174400000814
for observing the acceleration of the impeller +.>
Figure BDA0002112017440000091
Tloss is the system efficiency loss torque, which is an observed value of the aerodynamic torque actually absorbed by the impeller.
Step three: and establishing a mapping relation between aerodynamic torque Ta of the wind driven generator and tip speed ratio lambda of the wind driven generator. The method comprises the following specific steps:
the torque coefficient Cq of the induced wind generating set is defined as follows:
Figure BDA0002112017440000092
wherein Cq (lambda, theta) is the torque coefficient of the wind driven generator, and ρ is the air densityDegree, v e The wind speed of the impeller is equivalent, S is equivalent wind sweeping area of the impeller, R is equivalent radius of the impeller, the tip speed ratio lambda is used for representing the state of the impeller at different wind speeds, and the tip speed ratio lambda of the wind driven generator is defined as follows:
Figure BDA0002112017440000093
v e ＝ω r Rλ
the torque coefficient Cq equation is synthesized and wind speed related parameters are removed, wherein:
Figure BDA0002112017440000094
the torque coefficient Cq (λ, θ) <1 of the wind power generator is a coefficient representing the obtained rotational torque of the wind power generator under the action of an external wind flow field, which is a nonlinear curved function with respect to the tip speed ratio λ and the pitch angle θ;
separating the aerodynamic torque Ta from the above expression yields:
Figure BDA0002112017440000095
Figure BDA0002112017440000096
in the method, in the process of the invention,
Figure BDA0002112017440000097
is indicated at->
Figure BDA0002112017440000098
And solving lambda under the condition.
Let ta=ta (λ, θ, ωr) be the value of tip speed ratio λ, hub rotational speed ω r And a pitch angle θ.
During the actual operation of the wind driven generator, the rotation speed omega of the hub is used r The pitch angle θ can be measured at each sampling period, so that the hub rotational speed ω is used when the Cq (λ, θ) surface is known r And calculating the blade tip speed ratio lambda by obtaining aerodynamic torque Ta through the pitch angle theta and the mode of the step three.
Step four: and obtaining the tip speed ratio lambda through a polynomial function of scattered point fitting of the quadric surface. The method comprises the following specific steps:
for an actually running wind generator, the Cq (λ, θ) surface is known, and for mathematically expressing the Cq (λ, θ) surface, the engineering uses the following expression to obtain its piecewise fit:
Figure BDA0002112017440000101
wherein m is a discrete point obtained by discretizing the pitch angle theta, n is a polynomial curve fitting order, alpha is each coefficient, and theta m Is the mth theta discrete point, alpha m,n An nth term lambda coefficient representing the discrete point of θ at the mth;
when the pitch angle theta is different determined values, the wind energy utilization coefficient Cq forms a cluster of curves with respect to the tip speed ratio lambda, a polynomial with the tip speed ratio lambda as an independent variable is fitted according to Cq (lambda) piecewise curves under different values of theta, an expression of the aerodynamic torque Ta with respect to the effective wind speed lambda is obtained, and finally the optimal estimation of lambda is found through iterative calculation;
considering the fan aerodynamic torque observed value obtained by estimation in the step three
Figure BDA0002112017440000102
And a mapping relation ta=ta (λ, θ, ωr) of aerodynamic torque Ta obtained in the fourth step with respect to tip speed ratio λ, including:
Figure BDA0002112017440000103
Figure BDA0002112017440000104
wherein k represents the kth time, and the observed value of the aerodynamic torque obtained in the second step
Figure BDA0002112017440000105
And the observed value of the rotation speed of the impeller hub obtained in the step one +.>
Figure BDA0002112017440000106
Are known values, as are the impeller radius R and air density ρ for a particular fan system, so the tip speed ratio λ observation at the present time is the only variable.
The tip speed ratio lambda can be reliably calculated by the above method by a numerical solution method using the above formula. In the actual implementation process, newton-Rapson iteration method can be selected for solving.
Finally, the obtained tip speed ratio lambda can be used as an important reference input signal of a fan control system, and can be used as a real-time control process for torque control, impeller pitch angle control and the like of a wind driven generator without re-filtering, so that the accuracy and reliability of the fan control system are improved.

Claims (4)

1. A method for acquiring tip speed ratio of a wind generating set comprises the following steps:
step one: constructing a transmission chain observer, and obtaining the real state of the original transmission chain system from the final observation result by using a Kalman observer;
in the first step, the power characteristic of the equivalent transmission chain of the fan is represented by the following equation set:
Figure FDA0004073141360000011
Figure FDA0004073141360000012
where Je represents the equivalent moment of inertia,
Figure FDA0004073141360000013
represents the acceleration of a fan hub, ta is the pneumatic torque actually absorbed by an impeller, tg represents the torque of a fan generator, tloss represents the torque loss of the fan, pg represents the power of the fan generator, and omega r The rotating speed of a fan hub is represented;
step two: the rotation speed omega of the impeller hub is obtained through a sensor r And the generator torque Tg of the wind generating set to obtain the aerodynamic torque Ta actually absorbed by the impeller;
step three: establishing a mapping relation between aerodynamic torque Ta of a wind driven generator and tip speed ratio lambda of the wind driven generator;
the third specific steps are as follows:
the torque coefficient Cq of the induced wind generating set is defined as follows:
Figure FDA0004073141360000014
wherein Cq (lambda, theta) is the torque coefficient of the wind driven generator, ρ is the air density, v e The wind speed of the impeller is equivalent, S is equivalent wind sweeping area of the impeller, R is equivalent radius of the impeller, the tip speed ratio lambda is used for representing the state of the impeller at different wind speeds, and the tip speed ratio lambda of the wind driven generator is defined as follows:
Figure FDA0004073141360000015
Figure FDA0004073141360000021
the torque coefficient Cq equation is synthesized and wind speed related parameters are removed, wherein:
Figure FDA0004073141360000022
the torque coefficient Cq (lambda, theta) <1 of the wind power generator is a coefficient representing the obtained rotational torque of the wind power generator under the action of an external wind flow field, and is a nonlinear curved function about the tip speed ratio lambda and the pitch angle theta;
separating the aerodynamic torque Ta from the above expression yields:
Figure FDA0004073141360000023
Figure FDA0004073141360000024
in the method, in the process of the invention,
Figure FDA0004073141360000025
is indicated at->
Figure FDA0004073141360000026
Solving lambda under the condition;
let ta=ta (λ, θ, ωr) be the value of tip speed ratio λ, hub rotational speed ω r And a pitch angle θ;
during the actual operation of the wind driven generator, the rotation speed omega of the hub is used r The pitch angle θ can be measured at each sampling period, so that the hub rotational speed ω is used when the Cq (λ, θ) surface is known r Calculating the aerodynamic torque Ta obtained in the mode of the pitch angle theta and the step three to obtain a tip speed ratio lambda;
step four: and obtaining the tip speed ratio lambda through a polynomial function of scattered point fitting of the quadric surface.
2. The method for obtaining the tip speed ratio of the wind generating set according to claim 1, wherein the specific steps of the step one are as follows:
the observation expression of the linear time-varying system of the drive chain of the wind driven generator is assumed to be:
dx(t)＝(A(t)x(t)+B(t)u(t))dt+dn(t)
y(t k )＝H(t k )x(t k )+D(t k )u(t k )+v(t k )
wherein dx (t) is the first-order derivative of the system state at the time t, A (t) is the state matrix of the fan system at the time t, B (t) is the input matrix of the fan system at the time t, x (t) is the state quantity of the system at the time t, u (t) is the system input at the time t, dt is the derivative time, dn (t) is the noise interference term at the time t;
y(t k ) At t k System output at time, H (t k ) At t for fan system k Time Kalman observation output matrix, D (t k ) At t for fan system k Kalman observation feedforward matrix of time, x (t k ) At t for the system k State quantity of time, u (t k ) At t k System input of time of day, v (t k ) At t k Observing noise interference items at the moment; a step of
Given its initial measurement value and its actual measurement data
y(t 0 )，y(t 1 )，y(t 2 )，...，u(t)，t≥t 0
Figure FDA0004073141360000031
In the above, y (t) 0 )，y(t 1 )，y(t 2 ) At t for the system 0 、t 1 、t 2 The output of the moment of time,
Figure FDA0004073141360000032
representing an estimate of the initial state of the system +.>
Figure FDA0004073141360000033
Is indicated at->
Figure FDA0004073141360000034
System state at timeEstimate (S)>
Figure FDA0004073141360000035
Is indicated at->
Figure FDA0004073141360000036
Time-of-day Kalman matrix, P 0 A Kalman matrix representing an initial state;
for an actual fan system, use t k Updating the observation result of the update state of the real sensor value at the moment to obtain
Figure FDA0004073141360000037
Observation result->
Figure FDA0004073141360000038
The true state of the original transmission chain system is obtained, wherein the true state comprises the observation value of the rotation speed of the impeller hub +.>
Figure FDA0004073141360000039
Impeller acceleration observations +.>
Figure FDA00040731413600000310
3. The method for obtaining the tip speed ratio of the wind generating set according to claim 2, wherein in the second step, the following expression is further obtained by using the kalman observer in the first step and considering the engineering deviation:
Figure FDA00040731413600000311
where k represents the kth moment, je is the total equivalent torque of the hub,
Figure FDA00040731413600000312
for observing the acceleration of the impeller +.>
Figure FDA00040731413600000313
Tloss is the system efficiency loss torque, which is an observed value of the aerodynamic torque actually absorbed by the impeller.
4. The method for obtaining the tip speed ratio of the wind generating set according to claim 3, wherein the fourth specific steps are as follows:
for an actually running wind generator, the Cq (λ, θ) surface is known, and for mathematically expressing the Cq (λ, θ) surface, the engineering uses the following expression to obtain its piecewise fit:
Figure FDA0004073141360000041
wherein m is a discrete point obtained by discretizing the pitch angle theta, n is a polynomial curve fitting order, alpha is each coefficient, and theta m Is the mth theta discrete point, alpha m，n An nth term lambda coefficient representing the discrete point of θ at the mth;
when the pitch angle theta is different determined values, the wind energy utilization coefficient Cq forms a cluster of curves with respect to the tip speed ratio lambda, a polynomial with the tip speed ratio lambda as an independent variable is fitted according to Cq (lambda) piecewise curves under different values of theta, an expression of the aerodynamic torque Ta with respect to the effective wind speed lambda is obtained, and finally the optimal estimation of lambda is found through iterative calculation;
considering the fan aerodynamic torque observed value obtained by estimation in the step three
Figure FDA0004073141360000046
And a mapping relation ta=ta (λ, θ, ωr) of aerodynamic torque Ta obtained in the fourth step with respect to tip speed ratio λ, including:
Figure FDA0004073141360000042
Figure FDA0004073141360000043
wherein k represents the kth time, and the observed value of the aerodynamic torque obtained in the second step
Figure FDA0004073141360000044
And the observed value of the rotation speed of the impeller hub obtained in the step one +.>
Figure FDA0004073141360000045
Are known values, as are the impeller radius R and air density ρ for a particular fan system, so the tip speed ratio λ observation at the present time is the only variable.
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