CN110630434A - Longitudinal axis magnetic suspension guiding control undifferentiated wind power generation system - Google Patents
Longitudinal axis magnetic suspension guiding control undifferentiated wind power generation system Download PDFInfo
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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
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- 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
- F03D3/061—Rotors characterised by their aerodynamic shape, e.g. aerofoil profiles
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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
- 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
-
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/06—Controlling wind motors the wind motors having rotation axis substantially perpendicular to the air flow entering the rotor
-
- 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
-
- 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
- F03D9/20—Wind motors characterised by the driven apparatus
- F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/06—Electricity, gas or water supply
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/74—Wind turbines with rotation axis perpendicular to the wind direction
Abstract
The invention provides a longitudinal axis magnetic suspension guide control undifferentiated wind power generation system which comprises a wind collecting wind wheel, longitudinal axis magnetic suspension power generation equipment, a controller, a power amplifier, an uncontrollable rectifier, a boosting conversion circuit, an eddy current displacement sensor, a data acquisition module, a wireless communication unit and an energy storage module. The wind power generation system is driven by adopting a magnetic suspension technology, the rotating shaft is pushed by utilizing magnetic field guidance, the rotating shaft has no friction, and power generation can be carried out under the breeze state. The wind direction is changed without a wind aligning device, the structural design is simple, and the gyroscopic force of the wind wheel in the wind direction is reduced.
Description
Technical Field
The invention relates to the technical field of undifferentiated wind power generation, in particular to a longitudinal axis magnetic suspension guide control undifferentiated wind power generation system.
Background
Wind power generation converts kinetic energy of wind into electric energy. Wind energy is increasingly gaining attention as a clean renewable energy source in all countries of the world. The wind energy is huge, the global wind energy is about 2.74 multiplied by 10^9MW, wherein the available wind energy is 2 multiplied by 10^7MW, which is 10 times larger than the total amount of water energy which can be developed and utilized on the earth. China is rich in wind energy resources, and the wind energy storage capacity capable of being developed and utilized is about 10 hundred million kW, wherein the wind energy storage capacity on land is about 2.53 hundred million kW (data calculation of 10m height above the ground), and the wind energy storage capacity capable of being developed and utilized on the sea is about 7.5 hundred million kW, and the total is 10 hundred million kW. Wind is one of pollution-free energy sources. Moreover, it is inexhaustible. The wind power generator is very suitable for coastal islands, grassland pasturing areas, mountain areas and plateau areas with water shortage, fuel shortage and inconvenient traffic to generate electricity by utilizing wind power according to local conditions.
The traditional wind driven generator is mainly of a horizontal shaft lifting type and a horizontal shaft resistance type, and the main characteristics can be summarized as follows:
1) the rotating speed of the horizontal shaft lift type wind driven generator is high, and the rotating speed of the horizontal shaft resistance type wind driven generator is low;
2) the traditional wind driven generators are provided with wind devices, the requirement on wind direction is high, wind wheels need to be installed at the front and the back of a tower frame, and a plurality of wind wheels are installed on one tower frame in some wind driven generators, so that the installation is complicated, the maintenance amount is large, the cost is high, and the adaptability is poor;
3) the traditional wind driven generator consists of a wind wheel (comprising a tail vane), a generator and an iron tower. Each part is important, and the wind generating set cannot work normally when any part is in a problem;
4) the traditional wind driven generator has higher wind power requirement, and is suitable for generating power only when the wind speed is more than three levels of wind power, namely, the wind speed is more than 4 meters per second, and the wind speed is lower than the three levels of wind power, the wind power cannot be generated;
5) the traditional wind driven generator has the defects of noise, visual pollution, occupation of a large amount of land, instability, uncontrollable property, high cost, influence on bird activities and the like.
Therefore, how to realize the undifferentiated wind power generation system becomes an urgent problem to be solved.
Disclosure of Invention
In view of this, the application provides a longitudinal axis magnetic suspension guiding control undifferentiated wind power generation system, which does not need a wind alignment device when the wind direction changes, has simple structural design, and reduces the gyroscopic force of a wind wheel when the wind wheel aligns to the wind.
The application is realized by the following technical scheme:
the utility model provides a no difference wind power generation system of axis of ordinates magnetic suspension direction control, this wind power generation system include wind rotor, axis of ordinates magnetic suspension power generation facility, controller, power amplifier, uncontrollable rectifier, boost conversion circuit, eddy current displacement sensor, data acquisition module, wireless communication unit and energy storage module, its characterized in that:
the wind collecting wind wheel is connected with the longitudinal shaft magnetic suspension power generation equipment through a rotating shaft and used for converting wind energy into mechanical energy and transmitting the mechanical energy to the longitudinal shaft magnetic suspension power generation equipment;
the longitudinal shaft magnetic suspension power generation equipment is used for converting mechanical energy into electric energy;
the eddy current displacement sensor is respectively connected with the longitudinal axis magnetic suspension power generation equipment and the controller and is used for measuring the displacement deviation of the rotor in the longitudinal axis magnetic suspension power generation equipment, comparing a suspension height set value with an actual value to obtain an error, and transmitting the obtained error to the controller for processing;
the data acquisition module is connected with the controller and comprises a distributed sensor, a signal conditioning circuit, a microprocessor unit and a data transmission unit, and the data acquisition module transmits acquired data to the controller through the data transmission unit;
the controller receives data information from the data acquisition module, is used for controlling the running state and power output of the longitudinal axis magnetic suspension power generation equipment, and sends the generated control quantity to the power amplifier;
the power amplifier is connected with the controller, generates control current according to the control quantity received from the controller and transmits the control current to the vertical axis magnetic suspension power generation equipment to realize control on the rotor;
the uncontrollable rectifier is connected with the longitudinal shaft magnetic suspension power generation equipment and is used for converting alternating current output by the longitudinal shaft magnetic suspension power generation equipment into direct current;
the boost conversion circuit is used for converting the direct current output by the uncontrollable rectifier into electric energy;
the wireless communication unit is connected with the controller and used for realizing data transmission communication between the controller and the upper computer test analysis platform, and the wireless communication unit adopts a UART-to-WiFi wireless module USR-WIFI 232;
the energy storage module is connected with the boost conversion circuit and used for storing electric energy converted from mechanical energy.
Further, the wind wheel adopts the bilobed blade helical structure, including closing cap, the concave surface of blade, pivot, the convex surface and the baffle of blade, the parameter of bilobed blade helical structure includes: the rotating diameter is 0.75m, the height is 1.2m, and the torsion angle is 180 degrees;
the double-blade spiral structure of the wind collecting wind wheel comprises double blades symmetrically arranged around a rotating shaft, sealing covers are arranged at the upper end and the lower end of each double blade, and partition plates at equal intervals are horizontally arranged on concave surfaces of the blades along the direction of the rotating shaft; the eccentricity coefficient G of the spiral structure is 0.19, and the ratio D of the diameter D of the sealing cover to the diameter of the wind collecting wind wheel0The number of inner baffles N is 6, and the pitch P is 6.0.
Furthermore, a microprocessor unit in the data acquisition module is designed by adopting an MSP430 chip and is arranged on the site of the longitudinal axis magnetic suspension guide control undifferentiated wind power generation system, and the data acquisition module converts various analog and digital signals output by the distributed sensor into formatted digital quantity signals temporarily stored by the microprocessor unit through conditioning, transmission, driving and shaping, and then sends the formatted digital quantity signals to the controller through the data transmission unit according to a preset rule; the UART serial port of the microprocessor unit MSP430 is connected to the data transmission unit and transmits data to the controller via the data transmission unit.
Further, the distributed sensor comprises a wind speed sensor, the output of the wind speed sensor is a TTL frequency signal proportional to the wind speed v, a signal conditioning circuit of the wind speed sensor adopts a timing chip NE555, a high trigger end TH and a low trigger end TR of the timing chip are connected together to serve as signal input ends to form a schmitt trigger, and the signal output by the wind speed sensor is subjected to wave shaping at the interface front end of the processor unit MSP 430.
Furthermore, the wireless communication unit is set to be in a transparent transmission mode, and management can set related parameters in a Web mode by using an IE browser so as to realize data communication between the controller and the upper computer.
Furthermore, the controller comprises a scaling factor determining unit, a fuzzy control unit, a PID control unit, a multi-frequency wave trap and a sine and cosine signal generator;
the complex frequency wave trap is connected with the PID control unit and used for inhibiting the rotation speed same-frequency vibration and frequency-doubling vibration;
the scaling factor determining unit is used for determining the scaling factor by carrying out fuzzy reasoning on the scaling factor so as to dynamically adjust the domain size, and sending the obtained scaling factor to the fuzzy control unit;
the fuzzy control unit is used for obtaining PID parameter variation according to the scaling factor received from the scaling factor determining unit and by combining fuzzy control rule reasoning, and sending the PID parameter variation to the PID control unit;
and the PID control unit is used for obtaining a PID control parameter according to the PID parameter variable quantity received from the fuzzy control unit and combining a preset initial value, and the PID control unit outputs the control quantity to the power amplifier according to the PID control parameter.
Further, the multi-frequency wave trap is used for suppressing the rotation speed common-frequency vibration and the frequency multiplication vibration, and specifically includes:
is provided with
Is the input of a trap wave feedback link,for its output, the function between the output signal and the output signalThe numerical relationship is:
the transfer function of the notch feedback loop is as follows:
from the inputTransfer function to N(s) output of the wave trap is
When epsilon ≠ 0, i ≠ 1,2, … …, and n, let s ═ j ωrThen there is
When epsilon is not equal to 0, i is 1,2, … …, n, in the output of the wave trap N(s), the same frequency and frequency multiplication components of the rotating speed in the input signal y will approach 0, thereby effectively suppressing the same frequency and frequency multiplication vibration.
Further, the determining the scaling factor by performing fuzzy inference on the scaling factor specifically includes:
wherein k ispThe scale factor rule of (1) is as follows:
ki the scaling factor rule is as follows:
the scale factor for Kd is as follows:
further, the power amplifier selects a voltage-current type three-level PWM switch power amplifier, where L is an equivalent inductance of the magnet exciting coil of the electromagnet, R is an equivalent resistance, and a transfer function of the power amplifier is:
wherein, TpIs a lag time constant; a. thepIs a magnification factor.
Furthermore, the controller adopts TMS320F28335 as a main chip, and the peripheral hardware circuit design thereof comprises a power supply circuit, a reset circuit, a controller and an interface circuit of the eddy current displacement sensor; the power supply circuit adopts TPS758xx series power supply voltage stabilization chips to output fixed voltages of 3.3V, 2.5V and 1.8V.
Compared with the prior art, the invention has the advantages that:
1) the wind power generation system is driven by adopting a magnetic suspension technology, the rotating shaft is pushed by utilizing magnetic field guidance, the rotating shaft has no friction, and power generation can be carried out under the breeze state.
2) The wind power generation system does not need a wind aligning device when the wind direction changes, has simple structural design and reduces the gyroscopic force of the wind wheel when the wind wheel aligns to the wind. The wind power is not required, and the power can be generated under the three-level wind power (namely, the wind speed is less than 4 meters per second).
Drawings
FIG. 1 is a schematic diagram of the structure of a vertical axis magnetic levitation guiding control undifferentiated wind power generation system of the present invention;
FIG. 2 is a schematic view of a dual-bladed helical configuration of the wind rotor of the present invention;
FIG. 3 is a schematic diagram of an interface circuit between the controller and the eddy current displacement sensor according to the present invention;
FIG. 4 is a schematic diagram of the structure of the data acquisition module according to the present invention;
FIG. 5 is a schematic diagram of a wind speed sensor conditioning circuit of the present invention;
FIG. 6 is a functional block diagram of the controller according to the present invention;
FIG. 7 is a circuit diagram of a controller peripheral hardware circuit according to the present invention;
FIG. 8 is a schematic circuit diagram of an uncontrollable rectifier according to the present invention;
FIG. 9 is a schematic diagram of a boost converter circuit according to the present invention;
fig. 10 is a circuit diagram of the power amplifier of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
In the research of the magnetic suspension wind driven generator technology, a plurality of aspects of a starting control strategy, a parking control strategy, an automatic wind control strategy, a safety shutdown control strategy and the like are researched, and meanwhile, the inside of the magnetic suspension wind driven generator is automatically controlled and adjusted based on an operation environment state, so that the magnetic suspension wind driven generator is mainly supported by a plurality of advanced technologies such as a variable pitch control technology, an optimal tip speed ratio control technology, a variable speed operation control technology, a closed-loop control technology, a digital control technology, a variable frequency constant frequency control technology, an optimal feedback control technology, a gain scheduling control technology and the like.
At present, the magnetic levitation technology is successfully applied to the field of wind driven generators, and for the magnetic levitation wind driven generator technology, the realization of stable levitation in a dynamic state is the main content of the technology, and the performance of the whole rotor system is determined by a magnetic levitation control system used by the technology, so that a magnetic levitation control strategy in the magnetic levitation wind driven generator is a key content of the technical scheme of the invention. For the selection of the magnetic suspension technology control strategy in the magnetic suspension wind driven generator, the control strategy with the strongest robustness must be taken as the main selection direction, and only then, the application of the magnetic suspension control strategy can be ensured to meet the system operation requirement, which also relates to whether the overall efficiency of the whole magnetic suspension wind driven generator in operation can meet the development requirement of the new energy field.
The invention will be described in further detail below with reference to the drawings and examples.
The composition structure of the longitudinal axis magnetic suspension guiding control undifferentiated wind power generation system is shown in figure 1, and a wind wheel rotates at an angular speed omega under the driving of a wind speed v to drive wind power PaInto mechanical power P on the longitudinal axis as the main axis of rotationtThe generator rotor is driven by the rotating main shaft to rotate at a rotating speed nAnd the mechanical power P is converted into mechanical power under the control of the controller and the power convertertConversion into electric power PeAnd finally, the power is transmitted to a user load through a power distribution interface or is integrated into a power system.
In the power generation system shown in fig. 1, the wind power generation system includes a wind rotor, a vertical axis magnetic levitation power generation device, a controller, a power amplifier, an uncontrollable rectifier, a boost conversion circuit, an eddy current displacement sensor, a data acquisition module, a wireless communication unit and an energy storage module.
The wind collecting wind wheel is connected with the longitudinal shaft magnetic suspension power generation equipment through a rotating shaft and used for converting wind energy into mechanical energy and transmitting the mechanical energy to the longitudinal shaft magnetic suspension power generation equipment;
the longitudinal shaft magnetic suspension power generation equipment is used for converting mechanical energy into electric energy;
the eddy current displacement sensor is respectively connected with the longitudinal axis magnetic suspension power generation equipment and the controller and is used for measuring the displacement deviation of the rotor in the longitudinal axis magnetic suspension power generation equipment, comparing a suspension height set value with an actual value to obtain an error, and transmitting the obtained error to the controller for processing;
the data acquisition module is connected with the controller and comprises a distributed sensor, a signal conditioning circuit, a microprocessor unit and a data transmission unit, and the data acquisition module transmits acquired data to the controller through the data transmission unit;
the controller receives data information from the data acquisition module, is used for controlling the running state and power output of the longitudinal axis magnetic suspension power generation equipment, and sends the generated control quantity to the power amplifier;
the power amplifier is connected with the controller, generates control current according to the control quantity received from the controller and transmits the control current to the vertical axis magnetic suspension power generation equipment to realize control on the rotor;
the uncontrollable rectifier is connected with the longitudinal shaft magnetic suspension power generation equipment and is used for converting alternating current output by the longitudinal shaft magnetic suspension power generation equipment into direct current;
the boost conversion circuit is used for converting the direct current output by the uncontrollable rectifier into electric energy;
the wireless communication unit is connected with the controller and used for realizing data transmission communication between the controller and the upper computer test analysis platform, and the wireless communication unit adopts a UART-to-WiFi wireless module USR-WIFI 232;
the energy storage module is connected with the boost conversion circuit and used for storing electric energy converted from mechanical energy.
The schematic diagram of the double-blade spiral structure of the wind collecting wind wheel is shown in fig. 2, the wind collecting wind wheel adopts a double-blade spiral structure and comprises a sealing cover 1, a blade 2, a rotating shaft 3, a blade 4, a blade convex surface 5 and a partition plate 5, and the parameters of the double-blade spiral structure comprise: the diameter of the rotation is 0.75m, the height is 1.2m, and the torsion angle is 180 degrees. The double-blade spiral structure of the wind collecting wind wheel comprises double blades symmetrically arranged around a rotating shaft, sealing covers are arranged at the upper end and the lower end of each double blade, and partition plates at equal intervals are horizontally arranged on concave surfaces of the blades along the rotating shaft. The eccentricity coefficient G of the spiral structure is 0.19, and the ratio D of the diameter D of the sealing cover to the diameter of the wind collecting wind wheel0The number of inner baffles N is 6, and the pitch P is 6.0.
The height of the blade with the rotating diameter D when the blade finishes the 180-degree torsion angle is called as the pitch, under the condition that the wind sweeping area is not changed, the diameter of the wind wheel is increased along with the reduction of the pitch, the rotating speed is reduced, and when the reduction amplitude of the rotating speed is larger than the increase amplitude of the diameter, the output power of the wind wheel is reduced; conversely, as the pitch increases, the diameter of the rotor decreases and the speed increases, and when the diameter decreases by a larger amount than the speed increases, the output power of the rotor decreases.
The addition of the sealing cover obviously improves the performance of the wind collecting wind wheel, the sealing cover prevents air flow in the concave surface from diffusing from two ends, the pressure of the concave surface is improved, and the positive moment of the wind wheel is increased. The eccentricity enables an airflow channel to be formed between the two blades, and the concave airflow enters the leeward side of the convex surface through the airflow channel, so that the pressure difference between the two sides of the convex surface is reduced, and the negative moment of the convex surface is reduced. Therefore, eccentricity has the effect of improving the performance of the wind wheel, and the eccentricity coefficient G is the ratio of the eccentricity to the diameter of the blade, and is calculated by the following formula:
G＝(e-da)/db
wherein e is eccentricity daIs the shaft diameter, dbThe eccentricity coefficient determines the size of the eccentricity for the semicircular diameter of the blade.
The vertical axis magnetic suspension power generation equipment comprises a 1-displacement sensor, a 2-upper permanent magnet bearing PM1, a 3-upper electromagnetic bearing EM1, a 4-rotating shaft, a 5-stator, a 6-flywheel rotor, a 7-lower electromagnetic bearing EM2, an 8-lower permanent magnet bearing PM2 and a 9-shell.
The radial position of the rotor is restrained by a pair of oppositely-magnetized permanent magnet rings PM1 and PM2 at two ends of the rotating shaft respectively, and when the rotor deviates from a radial central line, the rotating shaft is pulled back to the central position by the automatic centering action between the permanent magnet rings. And the axial position of the rotor is controlled differentially by electromagnets EM1, EM2 located at both ends of the shaft, PM1, PM2 provide a radial restraining force and at the same time provide electromagnetic control bias magnetic fields B1, B2. When the rotating shaft is axially positioned at the balance position, no current flows through the electromagnetic coil, and the permanent magnetic force is balanced with the gravity. In a practical application scene, the rotor is subjected to an upward interference force to break an equilibrium state, and the detection of the displacement sensor and the action of the controller through the power amplifier generates a control current in the electromagnetic coil, so that the EM1 generates a magnetic field opposite to the B1, the EM2 generates a magnetic field in the same direction with the B2, and finally, the upward magnetic force is reduced, the downward magnetic force is increased, and the rotor is axially pulled back to an equilibrium point. In the control process, a position signal of the rotor detected by the displacement sensor is sent to the controller, the controller calculates the displacement signal by adopting a vibration control method, so that a control quantity is generated and sent to the power amplifier, and the power amplifier generates a current which is sent to the magnetic bearing to realize stable suspension and active control of the rotor.
The displacement sensor mainly completes position detection of an axial supporting disc, a system displacement signal needs to be acquired through a non-contact sensor, a TR series eddy current displacement sensor is selected in the invention, the displacement variation range needing to be detected in the technical scheme of the invention is 2-8 mm, wherein an air gap is 5mm during balancing, so that the linear measuring range of the sensor is required to be larger than 8mm, according to parameters in a product specification, a displacement sensor probe selects CWY-D0-A812501C20D10, the measuring range is 12.5mm, the length of a shell is 20mm, the probe selects 1mm, the amplification coefficient of the displacement sensor is 500, namely the requirement that a prepositioner requires to output amplitude limiting voltage within 5V, so the displacement sensor is selected according to ACWY-D0-A812500C02, the eddy current displacement sensor can be expressed as a first-order inertial link, and the transfer function can be expressed as:
wherein, TbIs a lag time constant; a. thebIs a magnification factor.
The eddy current displacement sensor works based on the eddy current effect, a high-frequency signal sent by the front-end device can generate an alternating magnetic field around the probe head, when a metal conductor is nearby, the eddy current can be generated on the surface of the conductor to generate an alternating magnetic field to react on the probe head, and therefore the current of the front-end device is changed, and the change is related to the distance between the conductor and the probe head. Therefore, when the eddy current displacement sensor is used, attention needs to be paid to layout and magnetic isolation measures so as to avoid interference of an external magnetic field.
The eddy current displacement sensor is a non-contact displacement sensor which takes a high-frequency eddy current effect as a principle, is arranged on a moving platform of a magnetic suspension feeding platform, detects the suspension height in real time and transmits the suspension height to a controller, has high sensitivity and strong anti-interference capability, is not influenced by various media, and is very suitable for measuring the suspension height. The sensor output voltage cannot be directly input to the A/D module of the DSP, and the voltage must be biased to 0-3V through a conditioning circuit. The interface circuit of the controller and the eddy current displacement sensor is shown in fig. 3.
The longitudinal axis magnetic suspension guiding control undifferentiated wind power generation system comprises large-scale rotating equipment, is special in installation and operation positions, and is not suitable for being carried out in a manual wired test mode when being placed in a field.
The data acquisition module detects various on-site physical quantity signals through distributed sensors of set air temperature, air pressure, air speed, torque, frequency, voltage and current, and then completes acquisition, conditioning and transmission of the monitored signals through related functional circuits, and the schematic structural diagram of the data acquisition module is shown in fig. 4.
According to the measurement requirement, the measurement objects of the data acquisition module mainly include the following types:
1) and wind speed is measured when the power generation equipment operates.
2) And the rotating speed is measured, and the capability of the wind collecting wind wheel for capturing wind energy can be tested by combining the rotating speed with the wind speed.
3) Alternating current voltage and direct current voltage, alternating current voltage output by the power generation equipment, charging voltage of complementary solar energy, terminal voltage of a storage battery, charging voltage of a power generation system and the like are measured, the output capability of the wind power generation equipment is tested by combining wind speed and rotating speed, the charging efficiency of the system is verified, and the working state of the storage battery is monitored.
4) And alternating current and direct current are measured, alternating current output by the generator, system charging current, complementary solar charging current and the like are measured, and the alternating current and the system charging current are combined with voltage data to obtain system power output capacity.
The data acquisition module comprises a distributed sensor, a signal conditioning circuit, a microprocessor unit and a data transmission unit, the data acquisition module sends acquired data to the controller through the data transmission unit, the acquired data are processed by the controller and then sent to the upper computer test analysis platform, the upper computer test analysis platform is realized by a computer and LabVIEW software programming, and the specific implementation mode of the upper computer test analysis platform is not related to the invention and is not described in detail herein.
The data acquisition module converts various analog and digital signals output by the distributed sensor into formatted digital quantity signals temporarily stored by the microprocessor unit through conditioning, transmitting, driving and shaping, and then the data transmission unit sends the signals to the controller according to preset rules, such as a specified period, system idle or other preset triggering conditions. The UART serial port of the microprocessor unit MSP430 is connected to the data transmission unit and transmits data to the controller via the data transmission unit.
The distributed sensor comprises a wind speed sensor, the output of the wind speed sensor is a TTL frequency signal proportional to the wind speed v, in order to avoid signal attenuation of long-line transmission, a signal conditioning circuit of the wind speed sensor adopts a timing chip NE555, a high trigger end TH and a low trigger end TR of the timing chip NE555 are connected to be used as signal input ends to form a Schmidt trigger, the signal output by the wind speed sensor is subjected to wave shaping at the interface front end of a processor unit MSP430, and the wind speed sensor conditioning circuit is shown in fig. 5.
The wireless communication unit is used for realizing data transmission communication between the controller and the upper computer test analysis platform, and the wireless communication unit adopts a UART-to-WiFi wireless module USR-WIFI 232. The wireless communication unit has the highest baud rate of 450kb/s, can select a TCP Server/TCP Client/UDP Server/UDP Client working mode, can support up to 32 Client connections in the TCP Server mode, has the effective communication distance of 400m, and can meet the actual requirements by technical indexes. The wireless communication unit is set to be in a transparent transmission mode, and management can set related parameters in a Web mode by using an IE browser so as to realize data communication between the controller and the upper computer.
And after the upper computer is connected with the controller, if the network connection is successful, returning a 'network connection success' message. At the moment, the upper computer sends a turn-off instruction to the data acquisition module through the controller, so that the data acquisition module is still in a low-power-consumption dormant state. When the 'start monitoring' event is triggered, the upper computer periodically sends an opening instruction to the data acquisition module through the controller until an activation confirmation symbol of the data acquisition module is received, at the moment, the 'receiving' event is automatically triggered, and the program starts to receive data transmitted by the data acquisition module and displays and stores the data in real time. And when the monitoring stopping event is triggered, the program periodically sends a turn-off instruction through the controller image data acquisition module to enable the data acquisition module to be in a dormant state again.
In the wind power generation system, the controller adopts a dynamic universe of discourse fuzzy control strategy to realize the self-adaptive adjustment of universe of discourse, in the dynamic universe of discourse fuzzy control strategy, universe of discourse can be dynamically adjusted according to the displacement deviation e and the displacement deviation change rate ec which are obtained by feedback comparison of the eddy current displacement sensor, and then control parameters are adjusted in real time according to a fuzzy control rule table, thereby improving the dynamic and steady-state performance of the controlled system and improving the robustness of the system.
The dynamic universe of discourse can be widened or narrowed with the change of the input, and the method is more suitable for the requirement of a practical system. Taking the displacement deviation E as an example, let the original discourse domain be [ -E, E]. When the deviation is reduced, the domain of discourse range is reduced; the deviation is increased, the domain range is widened, and the domain range is obtained in a way of dynamic adjustmentWherein α (e) is the scaling factor. The method for determining the proper discourse domain according to the real-time change of the system can improve the control precision of the system.
The functional composition structure of the controller in the invention is shown in fig. 6, and the controller comprises a scaling factor determining unit, a fuzzy control unit, a PID control unit, a multi-frequency wave trap and a sine and cosine signal generator;
the complex frequency wave trap is connected with the PID control unit and used for inhibiting the rotation speed same-frequency vibration and frequency-doubling vibration;
the scaling factor determining unit is used for determining the scaling factor by carrying out fuzzy reasoning on the scaling factor so as to dynamically adjust the domain size, and sending the obtained scaling factor to the fuzzy control unit;
the fuzzy control unit is used for obtaining PID parameter variation according to the scaling factor received from the scaling factor determining unit and by combining fuzzy control rule reasoning, and sending the PID parameter variation to the PID control unit;
and the PID control unit is used for obtaining a PID control parameter according to the PID parameter variable quantity received from the fuzzy control unit and combining a preset initial value, and the PID control unit outputs the control quantity to the power amplifier according to the PID control parameter.
The rotor in the longitudinal shaft magnetic suspension generating equipment is influenced by dynamic unbalance force during rotation, so that periodic vibration with the same frequency as the rotating speed is generated. In order to suppress the dynamic unbalance force and eliminate the influence caused by the dynamic unbalance force, a wave trap with the same frequency as the rotating speed can be adopted for filtering. The operating principle of the multi-frequency trap employed in the present invention is shown in fig. 6. The core of the design of the multi-frequency wave trap N(s) is a wave trap feedback link NfEpsilon determines the convergence speed and the central notch bandwidth of the notch filter n(s).
Is provided withIs the input of a trap wave feedback link,
for its output, the functional relationship between the output signal and the output signal is:
the transfer function of the notch feedback loop is as follows:
from the input
Transfer function to N(s) output of the wave trap is
When epsilon ≠ 0, i ≠ 1,2, … …, and n, let s ═ j ωrThen there is
When epsilon is not equal to 0, i is 1,2, … …, n, in the output of the wave trap N(s), the same frequency and frequency multiplication components of the rotating speed in the input signal y will approach 0, thereby effectively suppressing the same frequency and frequency multiplication vibration.
The method for determining the scaling factor by carrying out fuzzy reasoning on the scaling factor is a necessary step for realizing variable discourse domains, and the method for determining the scaling factor by adopting the fuzzy reasoning method specifically comprises the following steps:
Wherein k ispThe scale factor rule of (1) is as follows:
ki the scaling factor rule is as follows:
the scale factor for Kd is as follows:
the controller in the invention is designed by adopting TMS320F28335 as a main chip, the TMS320F28335 is a high-performance 32-bit DSP widely used in the industrial field, is provided with a single-precision floating point unit FPU (field programmable Unit), can be regarded as a coprocessor, has the working frequency of 150MHz, integrates a plurality of peripherals specially used for motor control, such as an orthogonal coding module, a capturing module, a PWM (pulse width modulation) module and the like, has the functions of a microcontroller, and is widely applied to the field with high requirements on instantaneity and precision.
The controller peripheral hardware circuit design based on TMS320F28335 mainly comprises a power supply circuit, a reset circuit, a controller and an interface circuit of an eddy current displacement sensor, and the circuit of the controller peripheral hardware circuit is shown in FIG. 7.
The power supply circuit of the controller mainly adopts a TPS758xx series power supply voltage stabilization chip with high reliability. The TPS758xx series voltage stabilizing chip can output fixed voltages of 3.3V, 2.5V and 1.8V and is used for supplying power to the I/O module; the adjustable voltage of 1.22-5V is output through an external feedback resistor and used for supplying power to the kernel. The power supply circuit of the controller is shown in fig. 7, and two voltage stabilizing chips are used for independently generating voltages of 3.3V and 1.9V respectively, so that the reliability of the system is enhanced.
The U1 generates a core voltage of 1.9V through an external feedback resistor, and the output voltage of the power circuit is adjusted according to the following formula, wherein VrefRepresenting the U1 internal reference voltage of 1.224V, a fixed 3.3VI/O module voltage was generated using U2.
When the 1.9V core voltage generated by the U1 is in a rising period but does not reach the conduction voltage of the Q1, the enable end of the U2 is at a low level, the enable is forbidden, the 3.3VI/O module voltage cannot be generated, and when the core voltage continues to rise to the conduction voltage of the Q1, the TPS75833 is enabled, and the 3..3V voltage starts to be output. L1 and L2 denote magnetic beads, which can isolate analog power supply from digital power supply and suppress high-frequency interference on power supply lines and signal lines.
The state of a DSP chip can be unstable when being electrified, so that high requirements are required for a RESET signal, namely high reliability and stability of a RESET circuit design are required, a power supply monitor is used for automatically generating a power-on RESET pulse, a circuit schematic diagram of the RESET circuit is shown in FIG. 7, when a system is electrified, U3 monitors the power supply voltage of an I/O module in real time, when the voltage of a VDD terminal exceeds 1.1V, a RESET outputs a low level, when the VDD terminal exceeds a chip internal voltage threshold value, the RESET is pulled to a high level again through a certain time delay to complete power-on RESET, and a RESET process can be directly started through an external key.
When the above components are designed, the specific application scenario of wind power generation needs to be fully considered. Rectifiers are generally classified into two types, i.e., a controllable rectifier and an uncontrollable rectifier, according to whether they are controllable or not. A fully-controlled or semi-controlled switching tube such as an MOSFET (metal oxide semiconductor field effect transistor), an IGBT (insulated gate bipolar transistor) and the like is used in the controllable rectifying circuit. The equivalent resistance value of the rectifier is controlled by adjusting the duty ratio of the switching tube, so that the rotating speed of the generator is controlled, and the purpose of maximum power tracking is achieved. An uncontrollable power switch tube is used in the uncontrollable rectifier, the output voltage is uncontrollable, and the battery or the load is connected according to the wind speed environment of the wind turbine. The main characteristics of the invention are low cost, simple structure, and is commonly used in small power generation systems and off-grid power generation systems, and the topological structure of the uncontrollable rectifier adopted by the invention is shown in figure 8.
In wind power generation, because of the instability of wind energy, the output voltages of power generation equipment are different at different rotating speeds, and the direct current output by the uncontrollable rectifier is subjected to electric energy conversion by the boost conversion circuit, so that the functions of impedance conversion and direct current adjustment are achieved, and the boost conversion circuit is an important loop for realizing the tracking control of the maximum power point. The boost converter circuit used in the present invention is shown in fig. 9. The boost conversion circuit has the characteristics of low requirement on devices, simple structure, simple control, continuous input current and simple filtering, can control output power and reduce loss.
The power amplifier converts the output signal of the controller into a control current or a control voltage, provides a corresponding excitation source for the electromagnet coil in the power generation equipment, thereby generating an electromagnetic force to ensure the stable operation of the rotor, and is a device for completing the conversion of energy, so that the stability and the response speed of the magnetic bearing, namely the dynamic characteristic of the system, are directly influenced by the conversion rate and the conversion rate. Power amplifiers can be generally divided into: voltage-current type and voltage-voltage type power amplifiers; according to the working mode, the method can be generally divided into: switching power amplifiers and linear power amplifiers.
The power amplifier in the invention selects a voltage-current type three-level PWM switch power amplifier, and the structure of the power amplifier is shown in figure 10, wherein L is the equivalent inductance of the magnet exciting coil of the electromagnet, and R is the equivalent resistance. When considering system skew, the power amplifier can be expressed as a first-order inertia element, and its transfer function can be expressed as:
wherein, TpIs a lag time constant; a. thepIs a magnification factor. The three-level PWM switch power amplifier has the advantages that: the ripple wave of the circuit is almost irrelevant to the power supply voltage, so the upper limit cut-off frequency of the switch power amplifier can be improved by improving the power supply voltage of the main circuit, and the overall performance of the power amplifier is improved; meanwhile, the switching times in one period are reduced, and the loss is reduced.
The energy storage module is connected with the boost conversion circuit and used for storing electric energy converted from mechanical energy.
In conclusion, compared with the traditional mechanical bearing type wind driven generator, the longitudinal axis magnetic suspension guiding control undifferentiated wind driven generation system has extremely strong advantages and performances, and can ensure that wind power generation enterprises in China can create more social benefits through the application of the magnetic suspension wind driven generator.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by instructing the relevant hardware through a program, and the program may be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the foregoing embodiments may also be implemented by using one or more integrated circuits, and accordingly, each module/unit in the foregoing embodiments may be implemented in the form of hardware, and may also be implemented in the form of a software functional module. The present invention is not limited to any specific form of combination of hardware and software.
It should be noted that the present invention can be embodied in other specific forms, and various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a no difference wind power generation system of axis of ordinates magnetic suspension direction control, this wind power generation system include wind rotor, axis of ordinates magnetic suspension power generation facility, controller, power amplifier, uncontrollable rectifier, boost conversion circuit, eddy current displacement sensor, data acquisition module, wireless communication unit and energy storage module, its characterized in that:
the wind collecting wind wheel is connected with the longitudinal shaft magnetic suspension power generation equipment through a rotating shaft and used for converting wind energy into mechanical energy and transmitting the mechanical energy to the longitudinal shaft magnetic suspension power generation equipment;
the longitudinal shaft magnetic suspension power generation equipment is used for converting mechanical energy into electric energy;
the eddy current displacement sensor is respectively connected with the longitudinal axis magnetic suspension power generation equipment and the controller and is used for measuring the displacement deviation of the rotor in the longitudinal axis magnetic suspension power generation equipment, comparing a suspension height set value with an actual value to obtain an error, and transmitting the obtained error to the controller for processing;
the data acquisition module is connected with the controller and comprises a distributed sensor, a signal conditioning circuit, a microprocessor unit and a data transmission unit, and the data acquisition module transmits acquired data to the controller through the data transmission unit;
the controller receives data information from the data acquisition module, is used for controlling the running state and power output of the longitudinal axis magnetic suspension power generation equipment, and sends the generated control quantity to the power amplifier;
the power amplifier is connected with the controller, generates control current according to the control quantity received from the controller and transmits the control current to the vertical axis magnetic suspension power generation equipment to realize control on the rotor;
the uncontrollable rectifier is connected with the longitudinal shaft magnetic suspension power generation equipment and is used for converting alternating current output by the longitudinal shaft magnetic suspension power generation equipment into direct current;
the boost conversion circuit is used for converting the direct current output by the uncontrollable rectifier into electric energy;
the wireless communication unit is connected with the controller and used for realizing data transmission communication between the controller and the upper computer test analysis platform, and the wireless communication unit adopts a UART-to-WiFi wireless module USR-WIFI 232;
the energy storage module is connected with the boost conversion circuit and used for storing electric energy converted from mechanical energy.
2. Wind power generation system according to claim 1,
the wind collection wind wheel adopts the bilobed blade helical structure, including the concave surface of closing cap, blade, pivot, the convex surface and the baffle of blade, the parameter of bilobed blade helical structure includes: the rotating diameter is 0.75m, the height is 1.2m, and the torsion angle is 180 degrees;
the double-blade spiral structure of the wind collecting wind wheel comprises double blades symmetrically arranged around a rotating shaft, sealing covers are arranged at the upper end and the lower end of each double blade, and partition plates at equal intervals are horizontally arranged on concave surfaces of the blades along the direction of the rotating shaft; the eccentricity coefficient G of the spiral structure is 0.19, the diameter D of the sealing cover and the wind collectionRatio D of wind wheel diameters0The number of inner baffles N is 6, and the pitch P is 6.0.
3. Wind power generation system according to claim 1,
the data acquisition module converts various analog and digital signals output by the distributed sensor into formatted digital quantity signals temporarily stored by the microprocessor unit through conditioning, transmitting, driving and shaping, and then the formatted digital quantity signals are transmitted to the controller by the data transmission unit according to a preset rule; the UART serial port of the microprocessor unit MSP430 is connected to the data transmission unit and transmits data to the controller via the data transmission unit.
4. The wind power generation system of claim 3, wherein the distributed sensor comprises a wind speed sensor, the output of the wind speed sensor is a TTL frequency signal proportional to the magnitude of the wind speed v, a signal conditioning circuit of the wind speed sensor adopts a timing chip NE555, a high trigger end TH and a low trigger end TR of the timing chip NE555 are connected together to be used as signal input ends to form a Schmidt trigger, and the signal output by the wind speed sensor is subjected to wave shaping at the interface front end of the processor unit MSP 430.
5. The wind power generation system of claim 1, wherein the wireless communication unit is set to a transparent transmission mode, and management can perform relevant parameter setting by a Web mode by using an IE browser so as to realize data communication between the controller and an upper computer.
6. The wind power generation system of claim 1, wherein the controller comprises a scaling factor determination unit, a fuzzy control unit, a PID control unit, a complex frequency trap, and a sine and cosine signal generator;
the complex frequency wave trap is connected with the PID control unit and used for inhibiting the rotation speed same-frequency vibration and frequency-doubling vibration;
the scaling factor determining unit is used for determining the scaling factor by carrying out fuzzy reasoning on the scaling factor so as to dynamically adjust the domain size, and sending the obtained scaling factor to the fuzzy control unit;
the fuzzy control unit is used for obtaining PID parameter variation according to the scaling factor received from the scaling factor determining unit and by combining fuzzy control rule reasoning, and sending the PID parameter variation to the PID control unit;
and the PID control unit is used for obtaining a PID control parameter according to the PID parameter variable quantity received from the fuzzy control unit and combining a preset initial value, and the PID control unit outputs the control quantity to the power amplifier according to the PID control parameter.
7. The wind power generation system of claim 6, wherein the complex frequency trap is configured to suppress rotation speed co-frequency vibration and frequency multiplication vibration, and specifically comprises:
is provided withIs the input of a trap wave feedback link,for its output, the functional relationship between the output signal and the output signal is:
the transfer function of the notch feedback loop is as follows:
from the input
Transfer function to N(s) output of the wave trap is
When epsilon ≠ 0, i ≠ 1,2, … …, and n, let s ═ j ωrThen there is
When epsilon is not equal to 0, i is 1,2, … …, n, in the output of the wave trap N(s), the same frequency and frequency multiplication components of the rotating speed in the input signal y will approach 0, thereby effectively suppressing the same frequency and frequency multiplication vibration.
8. Wind power system according to claim 6, wherein said determining the scaling factor by fuzzy inference of the scaling factor comprises:
step 1, the scaling factor determining unit uses e and ecAs input variable, with kp、ki、kdAs three output variables, with input variables e and ecRespectively of [ -0.3,0.3]、[-6,6]Output variable kp、ki、kdRespectively of [ -6,6]、[-0.3,0.3]、[-6,6]The argument field of the original scale factor is set to [0,1 ]]；
Step 2, inputting the scaling factors alpha (e) and alpha (ec), taking 5 fuzzy subsets GM, GS, GO, VS and VM, and outputting the scaling factors alpha (e/ec) and alpha (k) respectivelyp)、α(ki) And alpha (k)d) Taking 7 fuzzy subsets GB, GM, GS, GO, VS, VM and VB, determining a scaling factor according to a scaling factor rule table, and multiplying the determined scaling factor by an original domain of discourse to obtain an adjusted domain of discourse;
wherein k ispThe scale factor rule of (1) is as follows:
ki the scaling factor rule is as follows:
the scale factor for Kd is as follows:
9. the wind power generation system of claim 6, wherein the power amplifier is a voltage-current type three-level PWM switching power amplifier, wherein L is an equivalent inductance of the exciting coil of the electromagnet, R is an equivalent resistance, and a transfer function of the power amplifier is as follows:
wherein, TpIs a lag time constant; a. thepIs a magnification factor.
10. The wind power generation system of claim 6, wherein the controller adopts TMS320F28335 as a main chip, and the peripheral hardware circuit design comprises a power supply circuit, a reset circuit, and an interface circuit of the controller and the eddy current displacement sensor; the power supply circuit adopts TPS758xx series power supply voltage stabilization chips to output fixed voltages of 3.3V, 2.5V and 1.8V.
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