CN111577541A - 一种基于pid控制的变桨距风力发电机设备控制系统 - Google Patents

一种基于pid控制的变桨距风力发电机设备控制系统 Download PDF

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CN111577541A
CN111577541A CN202010377200.4A CN202010377200A CN111577541A CN 111577541 A CN111577541 A CN 111577541A CN 202010377200 A CN202010377200 A CN 202010377200A CN 111577541 A CN111577541 A CN 111577541A
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control
module
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李海庆
陈瑞涛
袁容
赵健
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Guangdong Electronic Information Engineering Research Institute of UESTC
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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 
    • 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
    • F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • F03D80/70—Bearing or lubricating arrangements
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/103—Purpose of the control system to affect the output of the engine
    • F05B2270/1033—Power (if explicitly mentioned)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/304—Spool rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/328—Blade pitch angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/334—Vibration measurements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/70—Type of control algorithm
    • F05B2270/706—Type of control algorithm proportional-integral-differential
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/70—Type of control algorithm
    • F05B2270/709—Type of control algorithm with neural networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Wind Motors (AREA)

Abstract

本发明公开了涉及风力发电机的控制技术领域，特别是涉及一种基于PID控制的变桨距风力发电机控制系统。该系统包括传感器组、控制器、参数整定神经网络，包括：分别与变桨距风力发电机设备电性连接的敏感元件感应模块和控制模块，所述传感器组包括：转速传感器、振动传感器，所述敏感元件感应模块通过通信模块与控制模块连接，并且所述控制模块内置有PID控制器，所述PID控制器使用准对角递归神经网络进行多变量PID控制，PID的参数包括比例、积分、微分三个参数.采用准对角递归神经网络(QDRNN)进行多变量PID控制参数整定，PID控制器实时调节PID参数，使系统更加稳定，工作质量提高。

Description

一种基于PID控制的变桨距风力发电机设备控制系统
技术领域
本发明涉及风力发电机的控制技术领域，特别是涉及一种基于PID控制的变桨距风力发电机控制系统。
背景技术
目前市场上应用较为广泛的大功率风力发电机有定桨距失速型风力发电机、变桨距定速风力发电机以及变桨距变速风力发电机,其中,定桨距失速型风力发电机多采用定速运转模式变桨距风力发电机的桨叶是通过轴承与轮毂相连的,控制轴承即可以改变桨叶的浆距角。所以与定桨距风力发电机相比,在风速高于额定值时,发电机的输出功率一直保持稳定,具有在额定功率点以上运行时,输出功率较为平稳的优点。
发明内容
为确保变桨距风力发电系统所控制的桨叶的桨距角更加精确，提供一种基于PID控制的变桨距风力发电机设备控制系统。
本发明技术方案为：一种变桨距风力发电机设备的桨距角控制系统，该系统包括传感器组、控制器、参数整定神经网络，包括：分别与变桨距风力发电机设备电性连接的敏感元件感应模块和控制模块，所述传感器组包括：转速传感器、振动传感器，所述敏感元件感应模块通过通信模块与控制模块连接，并且所述控制模块内置有PID控制器，所述PID控制器使用准对角递归神经网络进行多变量PID控制，PID的参数包括比例、积分、微分三个参数，分别设为kp1、 ki1、kd1，所述PID控制器(u1)的控制算法为：
Figure RE-GDA0002570237120000011
其中e1为输入与输出的差，T 为采样时间。
在本发明一个较佳实施例中，所述变桨距风力发电机包括：桨叶、轴承、传动装置和发电机，所述桨叶和轴承分别与所述控制模块电性连接。
在本发明一个较佳实施例中，所述敏感元件感应模块分别电连接到压力传感器、位置传感器、激光传感器、视觉传感器。
在本发明一个较佳实施例中，所述压力传感器、位置传感器、激光传感器、视觉传感器分别电连接到信号放大器和模数转换器。
本发明的有益效果是：采用准对角递归神经网络(QDRNN)进行多变量PID控制参数整定， PID控制器实时调节PID参数，使系统更加稳定，工作质量提高。
附图说明
图1为本发明一种基于PID控制的变桨距风力发电机设备控制系统的实施例；
图2是PID控制器控制原理图；
其中，u1、u2为PID控制器，NN为QDRNN神经网络。
具体实施方式
下面结合附图对本发明的较佳实施例进行详细阐述，以使本发明的优点和特征能更易于被本领域技术人员理解，从而对本发明的保护范围做出更为清楚明确的界定。
请参阅图1，本发明实施例包括：
一种基于PID控制的变桨距风力发电机设备控制系统，包括：分别与自动焊接设备电性连接的敏感元件感应模块和控制模块，所述敏感元件感应模块通过通信模块与控制模块连接；
其中，所述变桨距风力发电机包括：桨叶、轴承和传动装置，所述桨叶和轴承分别与所述控制模块电性连接；所述敏感元件感应模块分别电连接到压力传感器、位置传感器、激光传感器、视觉传感器，且所述压力传感器、位置传感器、激光传感器、视觉传感器分别电连接到信号放大器和模数转换器；
在室外风速发生变化是，此时压力传感器、位置传感器、激光传感器、视觉传感器等各个敏感件实时采集各各个部位的信息，且转速传感器和位置传感器检测桨叶的实时情况，将采集到的数据处理后通过通讯模块传输给控制控制，所述控制模块再控制轴承调节桨叶角度。所述控制模块内置有PID控制器，所述PID控制器使用准对角递归神经网络进行多变量PID控制，能够使系统更加稳定，工作效率大大提高；
具体地，以PID控制器u1为例，PID的参数包括比例、积分、微分三个参数，分别设为kp1、 ki1、kd1，所述PID控制算法为：
Figure RE-GDA0002570237120000021
其中e1为输入与输出的差，T 为采样时间；即运用QDRNN神经对PID的参数kp1ki1kd1进行整定，这样对到达风电机组设备的各个参数变量进行精确控制，从而能提高设备的工作效率和系统稳定性。具体的：当低于风力发电机的额定转速时，桨距角度保持理论上的0度，也就是最佳捕获风能的位置，通过对发电机的转子的转速控制，改变发电机的反力矩，从而调节风轮的转动速度；当高于额定风速是，通过对桨距角的调节而控制发电机的输出功率，使得其设备在工作的额定功率附近。
本发明揭示了一种基于PID控制的变桨距风力发电机控制系统，采用准对角递归神经网络 (QDRNN)进行多变量PID控制参数整定，PID控制器实时调节PID参数，使得其设备的工作一直在额定功率附近。

Claims (1)

1.一种基于PID控制的变桨距风力发电机设备控制系统，该系统包括:传感器组、控制器、参数整定神经网络，包括：分别与变桨距风力发电机设备电性连接的敏感元件感应模块和控制模块，所述传感器组包括：转速传感器、振动传感器，所述敏感元件感应模块通过通信模块与控制模块连接，并且所述控制模块内置有PID控制器，所述PID控制器使用准对角递归神经网络进行多变量PID控制，PID的参数包括比例、积分、微分三个参数，分别设为kp1、ki1、kd1，所述PID控制器(u1)的控制算法为：
Figure FDA0002480400410000011
其中e1为输入与输出的差，T为采样时间；
所述变桨距风力发电机包括：桨叶、轴承、传动装置和发电机，所述桨叶和轴承分别与所述控制模块电性连接；
所述敏感元件感应模块分别电连接到压力传感器、位置传感器、激光传感器、视觉传感器；
所述压力传感器、位置传感器、激光传感器、视觉传感器分别电连接到信号放大器和模数转换器。
CN202010377200.4A 2020-05-07 2020-05-07 一种基于pid控制的变桨距风力发电机设备控制系统 Pending CN111577541A (zh)

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Cited By (1)

* Cited by examiner, † Cited by third party
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CN114253308A (zh) * 2020-09-21 2022-03-29 陕西环保产业研究院有限公司 一种空间框架结构振动的主动控制方法和设备

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US6137187A (en) * 1997-08-08 2000-10-24 Zond Energy Systems, Inc. Variable speed wind turbine generator
KR20130092235A (ko) * 2012-02-10 2013-08-20 삼성중공업 주식회사 풍력발전기의 독립 피치 제어 시스템 및 그 방법
CN104454347A (zh) * 2014-11-28 2015-03-25 云南电网公司电力科学研究院 一种独立变桨距风力发电机桨距角的控制方法
CN105065199A (zh) * 2015-07-31 2015-11-18 苏州欧可罗电子科技有限公司 一种变桨距风力电机调控系统
CN109143842A (zh) * 2018-07-25 2019-01-04 江苏拙术智能制造有限公司 一种基于pid控制的线束连接器焊接设备控制系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6137187A (en) * 1997-08-08 2000-10-24 Zond Energy Systems, Inc. Variable speed wind turbine generator
KR20130092235A (ko) * 2012-02-10 2013-08-20 삼성중공업 주식회사 풍력발전기의 독립 피치 제어 시스템 및 그 방법
CN104454347A (zh) * 2014-11-28 2015-03-25 云南电网公司电力科学研究院 一种独立变桨距风力发电机桨距角的控制方法
CN105065199A (zh) * 2015-07-31 2015-11-18 苏州欧可罗电子科技有限公司 一种变桨距风力电机调控系统
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114253308A (zh) * 2020-09-21 2022-03-29 陕西环保产业研究院有限公司 一种空间框架结构振动的主动控制方法和设备
CN114253308B (zh) * 2020-09-21 2022-08-30 陕西环保产业研究院有限公司 一种空间框架结构振动的主动控制方法和设备

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