CN112523941B - Control method and module for preventing wind generating set from overspeed - Google Patents
Control method and module for preventing wind generating set from overspeed Download PDFInfo
- Publication number
- CN112523941B CN112523941B CN202011337540.0A CN202011337540A CN112523941B CN 112523941 B CN112523941 B CN 112523941B CN 202011337540 A CN202011337540 A CN 202011337540A CN 112523941 B CN112523941 B CN 112523941B
- Authority
- CN
- China
- Prior art keywords
- pitch
- generator
- equal
- pitch angle
- threshold value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims abstract description 59
- 230000001133 acceleration Effects 0.000 claims abstract description 53
- 238000005457 optimization Methods 0.000 claims abstract description 11
- 230000002401 inhibitory effect Effects 0.000 claims abstract description 6
- 238000004364 calculation method Methods 0.000 claims description 22
- 238000013016 damping Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 6
- 238000011217 control strategy Methods 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 230000002265 prevention Effects 0.000 claims description 2
- 230000000452 restraining effect Effects 0.000 claims 1
- 239000011295 pitch Substances 0.000 description 262
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 241000084490 Esenbeckia delta Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- 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
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
-
- 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
- F05B2270/101—Purpose of the control system to control rotational speed (n)
- F05B2270/1011—Purpose of the control system to control rotational speed (n) to prevent overspeed
-
- 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
- F05B2270/20—Purpose of the control system to optimise the performance of a machine
-
- 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
- F05B2270/327—Rotor or generator speeds
-
- 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
-
- 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
Abstract
The invention discloses a control method and a module for preventing a wind generating set from overspeed, firstly, a sensor is used for measuring the fore-and-aft acceleration and the pitch angle of an engine room and the rotating speed of a generator in real time, calculating the rotating speed deviation of the generator according to the rotating speed set value of the generator, multiplying the front and rear acceleration of the engine room with the rotating speed deviation of the generator to obtain a monitoring index value for judging whether to start a pitch regulation strategy or not, obtaining a corresponding threshold value according to the linear interpolation of the real-time pitch angle, starting a blade adjusting strategy when the monitoring index value is greater than or equal to the threshold value, namely, an additional pitch angle is superposed in an original pitch instruction output by a pitch controller of the wind generating set, so as to achieve the purpose of inhibiting the flying rise of the rotating speed of the generator in advance, or not starting a pitch regulation strategy, finally, a pitch actuator regulates the pitch angle of the blade according to a pitch regulation instruction sent by a pitch regulation controller, therefore, load optimization control of the wind generating set based on the forward and backward acceleration of the engine room and the rotating speed deviation of the generator is achieved.
Description
Technical Field
The invention relates to the technical field of wind generating sets, in particular to a control method and a module for preventing a wind generating set from overspeed.
Background
With the development of wind power generation technology and the demand of reducing electricity consumption cost in the market, the capacity of a wind generating set is larger and larger, blades are longer and longer, and the set often runs in a relatively severe external environment, so that the load of the set is larger and larger, the design and the operation of the set are greatly challenged, and potential risks are brought to the economic benefits of owners.
When the unit encounters EOG gust wind condition and is accompanied by power failure of the power grid, the unit bears huge adverse load, and the process is described as follows: an EOG (equivalent extreme operating gust, EOG for short, commonly known as topsides) is characterized in that the wind speed is rapidly reduced at first, blades are changed into pitches in the direction of 0 degree, the wind speed is suddenly increased in a short time at the moment, and meanwhile, a power grid power failure is accompanied, in order to guarantee the safety of a unit, the blades are changed into the pitches in the direction of 90 degrees at the moment, but the pitch angle is smaller due to the fact that the previous wind speed is reduced, the pneumatic torque is large, the electromagnetic torque disappears, the rotating speed cannot be restrained from flying up through the electromagnetic torque, in addition, a pitch changing system (a pitch angle execution system) has large inertia, the pitch angle has large hysteresis, the generator set is extremely easy to overspeed due to the fact that the pitch angle is small, and the unit thrust fluctuation caused by the severe pitch changing action can seriously aggravate the front-back vibration of the engine room, so that the load of the unit is large. In response to this problem, many solutions are currently available, which can be roughly summarized as the following two solutions:
firstly, the strength of the unit components is enhanced to improve the safety performance of the unit;
and optimizing a control strategy, and performing load shedding control on the unit.
The safety performance of the unit is improved by enhancing the strength of the unit components, namely, the size of the unit components is increased or materials with better performance are used instead, so that the weight and the cost of the unit are increased, the power consumption cost of the wind generating set is increased, and the competitiveness is reduced. Therefore, the second scheme is a common method and a research hotspot in the field at present, but the prior art is irregular and still needs to be further improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a control method and a control module for preventing a wind generating set from overspeed, accelerates the response speed of a variable pitch system, inhibits the overspeed of the set, ensures the stable operation of the set, reduces the load of the set, reduces the power consumption cost, and improves the product performance and the competitiveness.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a control method for preventing overspeed of a wind generating set is a control strategy for preventing overspeed and load reduction based on the product of the forward and backward acceleration of a cabin of the wind generating set and the rotating speed deviation of a generator, and comprises the following steps: firstly, measuring the front and back acceleration of an engine room, the pitch angle and the rotating speed of a generator in real time through a sensor, then calculating the rotating speed deviation of the generator according to a rotating speed set value of the generator, multiplying the front and back acceleration of the engine room with the rotating speed deviation of the generator to obtain a monitoring index value for starting a pitch regulation strategy, then obtaining a corresponding threshold value according to the linear interpolation of the real-time pitch angle, and starting the pitch regulation strategy when the monitoring index value is greater than or equal to the threshold value, namely superposing an additional pitch angle in an original pitch regulation instruction output by a pitch controller of the wind generating set to achieve the aim of inhibiting the rotating speed of the generator from flying up in advance, wherein the superposed pitch angle is the angle changed in a unit period of the pitch controller of a pitch regulation system of the wind generating set at a specific pitch regulation speed; when the monitoring index value is smaller than the threshold value, the pitch regulation strategy is not started, namely, the original pitch regulation instruction output by the pitch regulation controller is adopted; finally, a variable pitch actuator of the variable pitch system adjusts the pitch angle of the blade according to a variable pitch instruction sent by the variable pitch controller, so that load optimization control of the wind generating set based on the front and rear acceleration of the engine room and the rotating speed deviation of the generator is realized.
The control method for preventing the wind generating set from overspeed comprises the following steps:
1) data measurement
Let the measured fore-aft acceleration of the nacelle be aoThe rotating speed of the generator is omegaoThe real-time pitch angle is pitch angle, wherein the measured nacelle fore-aft acceleration aoAnd generator speed omegaoObtaining filtered fore-and-aft acceleration a of the engine room through a second-order low-pass filternacelleAnd the filtered generator speed omegafI.e. anacelle＝ao*F(s)，ωf＝ωoF(s), wherein F(s) is a second order low pass filter transfer function, and
where ξ is the damping coefficient, ω is the frequency, and s is a variable in the complex frequency domain;
2) calculating the rotational speed deviation of the generator
Let the deviation of the generator speed be omegaerrorElectric generatorThe set value of the rotating speed is omegasetpointThe calculation formula is as follows:
ωerror＝ωf-ωsetpoint
3) calculating a monitoring index value
Acceleration a of the nacelleoDeviation omega from generator speederrorMultiplying to obtain a monitoring index value, wherein the monitoring index value is defined as U, and the calculation formula is as follows:
U＝ao*ωerror
4) calculating threshold values corresponding to different pitch angles by linear interpolation
Designing a calculated corresponding threshold value as F, firstly establishing a corresponding table of a real-time pitch angle pitchangle and the threshold value F according to the operation data of the wind generating set, calculating the size of the threshold value F under different pitch angles according to the linear interpolation of the corresponding table, then comparing the size with a monitoring index value U, starting a pitch regulation strategy if the monitoring index value U is greater than or equal to the threshold value F, namely U is greater than or equal to F, and not starting the pitch regulation strategy if the monitoring index value U is less than the threshold value F, namely U is less than F;
5) determining a pitch setpoint
If U is more than or equal to F, starting a pitch regulation strategy, and then regulating the pitch to a set value pitchdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalSuperimposing an additional pitch angle Δ pitch, wherein the additional pitch angle is equal to the specific pitch rate Δ pitch multiplied by the pitch controller cycle time constant, i.e.:
Δpitchangle＝Δpitchrate*cycletime
pitchdemand＝pitchoriginal+Δpitchangle
if U is less than F, the pitch regulation strategy is not started, and the pitch regulation set value pitch is changed at the momentdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalNamely:
pitchdemand＝pitchoriginal
6) blade pitch angle adjusting by variable pitch actuator
And a variable pitch actuator of the variable pitch system adjusts the pitch angle of the blade according to the determined variable pitch given value, namely the final pitch angle instruction, so that the load optimization control of the wind generating set based on the forward and backward acceleration of the engine room and the rotating speed deviation of the generator is realized.
In step 4), the method for calculating the threshold F is as follows: when the real-time pitch angle falls in a pitch angle interval A which is smaller than the pitch angle and smaller than the pitch angle D, calculating the size of a corresponding threshold value F by adopting a linear interpolation method; when the real-time pitch angle is smaller than or equal to A, taking the threshold value F as E, namely, the pitch angle is smaller than or equal to A, and F is equal to E; when the real-time pitch angle is greater than or equal to D, the threshold value F is I, namely, the pitch angle is greater than or equal to D, and F is equal to I.
A control module for preventing a wind generating set from overspeed measures the front and back acceleration of an engine room, the pitch angle and the rotating speed of a generator in real time through a sensor, then calculates the rotating speed deviation of the generator according to a set value of the rotating speed of the generator, multiplies the front and back acceleration of the engine room with the rotating speed deviation of the generator to obtain a monitoring index value for starting a pitch adjusting strategy or not, then obtains a corresponding threshold value according to the linear interpolation of the real-time pitch angle, and starts the pitch adjusting strategy when the monitoring index value is larger than or equal to the threshold value, namely, an additional pitch angle is superposed in an original pitch adjusting instruction output by a pitch controller of the wind generating set so as to achieve the aim of inhibiting the rotating speed of the generator from flying up in advance, wherein the superposed pitch angle is the angle changed by the pitch system of the wind generating set in a unit period; when the monitoring index value is smaller than the threshold value, the pitch regulation strategy is not started, namely, the original pitch regulation instruction output by the pitch regulation controller is adopted; finally, a variable pitch actuator of the variable pitch system adjusts the pitch angle of the blade according to a variable pitch instruction sent by the variable pitch controller, so that load optimization control of the wind generating set based on the front and rear acceleration of the engine room and the rotating speed deviation of the generator is realized.
The control module for preventing the wind generating set from overspeed comprises:
a data measuring unit for measuring the fore-and-aft acceleration a of the nacelleoGenerator speed omegaoAnd a real-time pitch angle, wherein the measured nacelle fore-aft acceleration aoAnd generator speed omegaoFiltered by a second-order low-pass filterBackward and forward acceleration a of the nacellenacelleAnd the filtered generator speed omegafI.e. anacelle＝ao*F(s)，ωf＝ωoF(s), wherein F(s) is a second order low pass filter transfer function, and
where ξ is the damping coefficient, ω is the frequency, and s is a variable in the complex frequency domain;
a generator speed deviation calculation unit for calculating a generator speed deviation omegaerrorThe calculation formula is as follows: omegaerror＝ωf-ωsetpointIn the formula, ωsetpointSetting a rotating speed value of the generator;
a monitoring index value calculation unit for calculating a monitoring index value U by calculating the forward and backward acceleration a of the nacelleoDeviation omega from generator speederrorMultiplying to obtain a monitoring index value U, wherein the calculation formula is as follows: u ═ ao*ωerror；
The threshold value calculating and comparing unit is used for calculating threshold values F corresponding to different pitch angles and comparing the threshold values F with the monitoring index values U, and the specific operation is as follows: firstly, establishing a corresponding table of real-time pitch angle and a threshold value F according to the operation data of the wind generating set, calculating the size of the threshold value F under different pitch angles according to the linear interpolation of the corresponding table, comparing the size with a monitoring index value U, starting a pitch regulation strategy if the monitoring index value U is greater than or equal to the threshold value F, namely U is greater than or equal to F, and not starting the pitch regulation strategy if the monitoring index value U is less than the threshold value F, namely U is less than F;
the variable pitch set value calculating and issuing unit is used for calculating a variable pitch set value, namely a final variable pitch instruction, and sending the final variable pitch instruction to a variable pitch actuator of a variable pitch system to adjust the pitch angle of the blade; the specific operation of calculating the given variable-pitch value is as follows: when U is larger than or equal to F, starting a pitch regulation strategy, and then regulating the pitch to a set value pitchdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalSuperimposing an additional pitch angle Δ pitchangle, wherein the additional pitch angle is equal to the specific pitch rate Δ pitchrate is multiplied by a pitch controller cycle time constant, i.e. delta pitch time delta pitch cycle, pitchdemand＝pitchoriginal+ Δ pitchangle; if U is less than F, the pitch regulation strategy is not started, and the pitch regulation set value pitch is changed at the momentdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalI.e. pitchdemand＝pitchoriginal。
In the threshold calculation and comparison unit, the threshold F is calculated by: when the real-time pitch angle falls in a pitch angle interval A which is smaller than the pitch angle and smaller than the pitch angle D, calculating the size of a corresponding threshold value F by adopting a linear interpolation method; when the real-time pitch angle is smaller than or equal to A, taking the threshold value F as E, namely, the pitch angle is smaller than or equal to A, and F is equal to E; when the real-time pitch angle is greater than or equal to D, the threshold value F is I, namely, the pitch angle is greater than or equal to D, and F is equal to I.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. in the normal power generation working interval of the wind generating set, the invention can only act when the product of the front and rear acceleration of the cabin and the speed deviation of the generator exceeds a threshold value, can more accurately prevent the set from overspeed, optimizes the load of the fan and simultaneously ensures the stability of the set in normal operation.
2. The invention can prevent the unit from overspeed by adopting a control mode of superposing the variable pitch rate in advance when the wind generating set is in an extreme external environment, so that the unit can stably run, and compared with the existing pitch angle control mode, the invention can effectively avoid the shutdown caused by the overspeed of the unit, thereby reducing the limit load.
3. The invention can realize load reduction control by only adding corresponding functional units in the control without adding unit equipment, thereby saving the cost and improving the unit competitiveness.
4. The invention has stronger theoretical basis, is easy to be accepted by related technical personnel, and lays a foundation for subsequent control optimization improvement and equipment maintenance.
In conclusion, the invention can effectively inhibit the overspeed of the unit, thereby reducing the loads of the blades, the hub and the tower and comprehensively improving the performance of the unit, therefore, the invention has very wide application prospect and is worthy of popularization.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a control block diagram for preventing overspeed of a wind turbine.
Fig. 3 is an architecture diagram of the control module of the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples.
Example 1
As shown in fig. 1, the present embodiment provides a control method for preventing overspeed of a wind turbine generator system, which is an overspeed and load reduction prevention control strategy based on the product of the forward and backward acceleration of the nacelle of the wind turbine generator system and the rotational speed deviation of the generator: firstly, measuring the fore-and-aft acceleration of an engine room, the pitch angle and the rotating speed of a generator in real time through a sensor, then calculating the rotating speed deviation of the generator according to a rotating speed set value of the generator, multiplying the fore-and-aft acceleration of the engine room with the rotating speed deviation of the generator to obtain a monitoring index value for starting a pitch regulation strategy, then obtaining a corresponding threshold value according to the linear interpolation of the real-time pitch angle, and starting the pitch regulation strategy when the monitoring index value is greater than or equal to the threshold value, namely superposing an additional pitch angle in an original pitch regulation instruction output by a pitch controller of a wind generating set (the superposed pitch angle is the angle changed in a unit period of the pitch controller of the wind generating set at a specific pitch regulation speed) so as to achieve the purpose of inhibiting the rotating speed of the generator from flying; when the monitoring index value is smaller than the threshold value, the pitch regulation strategy is not started, namely, the original pitch regulation instruction output by the pitch regulation controller is adopted; finally, a variable pitch actuator of the variable pitch system adjusts the pitch angle of the blade according to a variable pitch instruction sent by a variable pitch controller, so that load optimization control of the wind generating set based on the forward and backward acceleration of the engine room and the rotating speed deviation of the generator is realized; which comprises the following steps:
1) data measurement
Let the measured fore-aft acceleration of the nacelle be aoThe rotating speed of the generator is omegaoThe real-time pitch angle is pitchgle, wherein the measured forward and backward acceleration a of the cabinoAnd generator speed omegaoObtaining filtered fore-and-aft acceleration a of the engine room through a second-order low-pass filternacelleAnd the filtered generator speed omegafI.e. anacelle＝ao*F(s)，ωf＝ωoF(s), wherein F(s) is a second order low pass filter transfer function, and
where ξ is the damping coefficient, ω is the frequency and s is a variable in the complex frequency domain.
2) Calculating the rotational speed deviation of the generator
Let the deviation of the generator speed be omegaerrorThe set value of the rotating speed of the generator is omegasetpointThe calculation formula is as follows:
ωerror＝ωf-ωsetpoint
3) calculating a monitoring index value
Acceleration a of the nacelleoDeviation omega from generator speederrorMultiplying to obtain a monitoring index value, wherein the monitoring index value is defined as U, and the calculation formula is as follows:
U＝ao*ωerror
4) calculating threshold values corresponding to different pitch angles by linear interpolation
Designing the calculated corresponding threshold value as F, firstly, establishing a corresponding table of real-time pitch angle pitchangle and the threshold value F according to the operation data of the wind generating set, as shown in the following table 1, calculating the size of the threshold value F under different pitch angles according to the linear interpolation of the table 1, then comparing the size with a monitoring index value U, starting a pitch regulation strategy if the monitoring index value U is greater than or equal to the threshold value F, namely U is greater than or equal to F, and not starting the pitch regulation strategy if the monitoring index value U is less than the threshold value F, namely U is less than F.
The calculation method of the threshold value F comprises the following steps: when the real-time pitch angle falls within the pitch angle interval A < pitch angle < D in the table 1, calculating the size of the corresponding threshold value F by adopting a linear interpolation method; when the real-time pitch angle is smaller than or equal to A, taking the threshold value F as E, namely, the pitch angle is smaller than or equal to A, and F is equal to E; when the real-time pitch angle is greater than or equal to D, the threshold value F is I, namely the pitch angle is greater than or equal to D, and F is I; the number of columns in table 1 can be increased as necessary.
TABLE 1 real-time Pitch Angle to threshold mapping Table
5) Determining a pitch setpoint
If U is more than or equal to F, starting a pitch regulation strategy, and then regulating the pitch to a set value pitchdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalSuperimposing an additional pitch angle Δ pitch, wherein the additional pitch angle is equal to the specific pitch rate Δ pitch multiplied by the pitch controller cycle time constant, i.e.:
Δpitchangle＝Δpitchrate*cycletime
pitchdemand＝pitchoriginal+Δpitchangle
if U is less than F, the pitch regulation strategy is not started, and the pitch regulation set value pitch is changed at the momentdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalNamely:
pitchdemand＝pitchoriginal
6) blade pitch angle adjusting by variable pitch actuator
And a variable pitch actuator of the variable pitch system adjusts the pitch angle of the blade according to the determined variable pitch given value, namely the final pitch angle instruction, so that the load optimization control of the wind generating set based on the forward and backward acceleration of the engine room and the rotating speed deviation of the generator is realized.
Example 2
The conventional controller of the wind generating set consists of a torque controller and a variable pitch controller: the torque controller is used for capturing wind energy maximally when the wind energy is below the rated wind speed; when the variable pitch controller is used above the rated wind speed, the rotating speed of the generator is kept near the rated rotating speed by adjusting the pitch angle, so that the output power of the unit is guaranteed to be the rated power while the normal operation of the fan is guaranteed. However, considering the hysteresis of the pitch angle following, especially when the unit encounters EOG wind conditions, the fast increase of the generator speed even overspeed, and the violent and frequent pitch-changing action cause the fluctuation of the fan thrust, which aggravates the fore-and-aft vibration of the nacelle, therefore, two variables of the fore-and-aft acceleration of the nacelle and the deviation of the generator speed are introduced into the unit controller, on the basis of the conventional controller, a new control module is established to prevent the wind turbine generator unit from overspeed, i.e. the control module based on the product of the fore-and-aft acceleration of the nacelle and the deviation of the generator speed, as shown in fig. 2, the control module measures the fore-and-aft acceleration of the nacelle, the pitch angle and the generator speed in real time through sensors, calculates the deviation of the generator speed according to the set value of the generator speed, and multiplies the deviation of the generator speed to obtain the monitoring index value of whether to start the pitch-changing strategy, then, obtaining a corresponding threshold value according to the real-time pitch angle linear interpolation, and when the monitoring index value is greater than or equal to the threshold value, starting a pitch regulation strategy, namely superposing an additional pitch angle in an original pitch regulation instruction output by a pitch regulation controller (the superposed pitch angle is the angle changed in a unit period of the pitch regulation controller of a pitch regulation system of the wind generating set at a specific pitch regulation speed) so as to achieve the purpose of inhibiting the rotating speed of the generator from flying up in advance; when the monitoring index value is smaller than the threshold value, the pitch regulation strategy is not started, namely, the original pitch regulation instruction output by the pitch regulation controller is adopted; finally, a variable pitch actuator of the variable pitch system adjusts the pitch angle of the blade according to a variable pitch instruction sent by the variable pitch controller, so that load optimization control of the wind generating set based on the front and rear acceleration of the engine room and the rotating speed deviation of the generator is realized.
As shown in fig. 3, the control module for preventing overspeed of a wind turbine generator set provided by the present embodiment includes the following functional units:
a data measuring unit for measuring the fore-and-aft acceleration a of the nacelleoGenerator speed omegaoAnd a real-time pitch angle, wherein the measured nacelle fore-aft acceleration aoAnd generator speed omegaoObtaining filtered fore-and-aft acceleration a of the engine room through a second-order low-pass filternacelleAnd the filtered generator speed omegafI.e. anacelle＝ao*F(s)，ωf＝ωoF(s), wherein F(s) is a second order low pass filter transfer function, and
where ξ is the damping coefficient, ω is the frequency and s is a variable in the complex frequency domain.
A generator speed deviation calculation unit for calculating a generator speed deviation omegaerrorThe calculation formula is as follows: omegaerror＝ωf-ωsetpointIn the formula, ωsetpointIs the set value of the rotating speed of the generator.
A monitoring index value calculation unit for calculating a monitoring index value U by calculating the forward and backward acceleration a of the nacelleoDeviation omega from generator speederrorMultiplying to obtain a monitoring index value U, wherein the calculation formula is as follows: u ═ ao*ωerror。
The threshold value calculating and comparing unit is used for calculating threshold values F corresponding to different pitch angles and comparing the threshold values F with the monitoring index values U, and the specific operation is as follows: firstly, establishing a corresponding table of real-time pitch angle and a threshold value F according to the operation data of the wind generating set, calculating the size of the threshold value F under different pitch angles according to the linear interpolation of the table 2 as shown in the table 2, comparing the size with a monitoring index value U, starting a pitch regulation strategy if the monitoring index value U is greater than or equal to the threshold value F, namely U is greater than or equal to F, and not starting the pitch regulation strategy if the monitoring index value U is less than the threshold value F, namely U is less than F; the calculation method of the threshold F comprises the following steps: when the real-time pitch angle falls in the pitch angle interval A < pitch angle < D in the table 2, calculating the size of the corresponding threshold value F by adopting a linear interpolation method; when the real-time pitch angle is smaller than or equal to A, taking the threshold value F as E, namely, the pitch angle is smaller than or equal to A, and F is equal to E; when the real-time pitch angle is greater than or equal to D, the threshold value F is I, namely the pitch angle is greater than or equal to D, and F is I; the number of columns in table 2 can be increased as desired.
TABLE 2 real-time Pitch Angle to threshold mapping Table
The variable pitch set value calculating and issuing unit is used for calculating a variable pitch set value, namely a final variable pitch instruction, and sending the final variable pitch instruction to a variable pitch actuator of a variable pitch system to adjust the pitch angle of the blade; the specific operation of calculating the given variable-pitch value is as follows: when U is larger than or equal to F, starting a pitch regulation strategy, and then regulating the pitch to a set value pitchdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalSuperimposing an additional pitch angle Δ pitch, wherein the additional pitch angle is equal to the specific pitch rate Δ pitch multiplied by a pitch controller cycle time constant, pitchdemand＝pitchoriginal+ Δ pitchangle; if U is less than F, the pitch regulation strategy is not started, and the pitch regulation set value pitch is changed at the momentdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalI.e. pitchdemand＝pitchoriginal。
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that the changes in the shape and principle of the present invention should be covered within the protection scope of the present invention.
Claims (4)
1. A control method for preventing overspeed of a wind generating set is characterized in that the method is an overspeed and load reduction prevention control strategy based on the product of the forward and backward acceleration of a cabin of the wind generating set and the rotating speed deviation of a generator: firstly, measuring the front and back acceleration of an engine room, the pitch angle and the rotating speed of a generator in real time through a sensor, then calculating the rotating speed deviation of the generator according to a rotating speed set value of the generator, multiplying the front and back acceleration of the engine room with the rotating speed deviation of the generator to obtain a monitoring index value for starting a pitch regulation strategy, then obtaining a corresponding threshold value according to the linear interpolation of the real-time pitch angle, and starting the pitch regulation strategy when the monitoring index value is greater than or equal to the threshold value, namely superposing an additional pitch angle in an original pitch regulation instruction output by a pitch controller of the wind generating set to achieve the aim of inhibiting the rotating speed of the generator from flying up in advance, wherein the superposed pitch angle is the angle changed in a unit period of the pitch controller of a pitch regulation system of the wind generating set at a specific pitch regulation speed; when the monitoring index value is smaller than the threshold value, the pitch regulation strategy is not started, namely, the original pitch regulation instruction output by the pitch regulation controller is adopted; finally, a variable pitch actuator of the variable pitch system adjusts the pitch angle of the blade according to a variable pitch instruction sent by a variable pitch controller, so that load optimization control of the wind generating set based on the forward and backward acceleration of the engine room and the rotating speed deviation of the generator is realized; which comprises the following steps:
1) data measurement
Let the measured fore-aft acceleration of the nacelle be aoThe rotating speed of the generator is omegaoThe real-time pitch angle is pitch angle, wherein the measured nacelle fore-aft acceleration aoAnd generator speed omegaoObtaining filtered fore-and-aft acceleration a of the engine room through a second-order low-pass filternacelleAnd the filtered generator speed omegafI.e. anacelle＝ao*F(s)，ωf＝ωoF(s), wherein F(s) is a second order low pass filter transfer function, and
where ξ is the damping coefficient, ω is the frequency, and s is a variable in the complex frequency domain;
2) calculating the rotational speed deviation of the generator
Let the deviation of the generator speed be omegaerrorThe set value of the rotating speed of the generator is omegasetpointThe calculation formula is as follows:
ωerror＝ωf-ωsetpoint
3) calculating a monitoring index value
Acceleration a of the nacelleoDeviation omega from generator speederrorMultiplying to obtain a monitoring index value, wherein the monitoring index value is defined as U, and the calculation formula is as follows:
U＝ao*ωerror
4) calculating threshold values corresponding to different pitch angles by linear interpolation
Designing a calculated corresponding threshold value as F, firstly establishing a corresponding table of a real-time pitch angle pitchangle and the threshold value F according to the operation data of the wind generating set, calculating the size of the threshold value F under different pitch angles according to the linear interpolation of the corresponding table, then comparing the size with a monitoring index value U, starting a pitch regulation strategy if the monitoring index value U is greater than or equal to the threshold value F, namely U is greater than or equal to F, and not starting the pitch regulation strategy if the monitoring index value U is less than the threshold value F, namely U is less than F;
5) determining a pitch setpoint
If U is more than or equal to F, starting a pitch regulation strategy, and then regulating the pitch to a set value pitchdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalSuperimposing an additional pitch angle Δ pitch, wherein the additional pitch angle is equal to the specific pitch rate Δ pitch multiplied by the pitch controller cycle time constant, i.e.:
Δpitchangle＝Δpitchrate*cycletime
pitchdemand＝pitchoriginal+Δpitchangle
if U is less than F, the pitch regulation strategy is not started, and the pitch regulation set value pitch is changed at the momentdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalNamely:
pitchdemand＝pitchoriginal
6) blade pitch angle adjusting by variable pitch actuator
And a variable pitch actuator of the variable pitch system adjusts the pitch angle of the blade according to the determined variable pitch given value, namely the final pitch angle instruction, so that the load optimization control of the wind generating set based on the forward and backward acceleration of the engine room and the rotating speed deviation of the generator is realized.
2. A control method for preventing overspeed of wind turbine generator set according to claim 1, wherein: in step 4), the method for calculating the threshold F is as follows: when the real-time pitch angle falls in a pitch angle interval A which is smaller than the pitch angle and smaller than the pitch angle D, calculating the size of a corresponding threshold value F by adopting a linear interpolation method; when the real-time pitch angle is smaller than or equal to A, taking the threshold value F as E, namely, the pitch angle is smaller than or equal to A, and F is equal to E; when the real-time pitch angle is greater than or equal to D, the threshold value F is I, namely, the pitch angle is greater than or equal to D, and F is equal to I.
3. A control module for preventing overspeed of a wind generating set is characterized in that: the control module measures the front and back acceleration of an engine room, a pitch angle and the rotating speed of a generator in real time through a sensor, then calculates the rotating speed deviation of the generator according to a rotating speed set value of the generator, multiplies the front and back acceleration of the engine room with the rotating speed deviation of the generator to obtain a monitoring index value for starting a pitch adjusting strategy, then obtains a corresponding threshold value according to the linear interpolation of the real-time pitch angle, and starts the pitch adjusting strategy when the monitoring index value is larger than or equal to the threshold value, namely, an additional pitch angle is superposed in an original pitch adjusting instruction output by a pitch adjusting controller of the wind generating set to achieve the aim of restraining the rotating speed of the generator from flying up in advance, wherein the superposed pitch angle is the angle changed in a unit period of the pitch adjusting controller of the wind generating set at a specific pitch adjusting speed; when the monitoring index value is smaller than the threshold value, the pitch regulation strategy is not started, namely, the original pitch regulation instruction output by the pitch regulation controller is adopted; finally, a variable pitch actuator of the variable pitch system adjusts the pitch angle of the blade according to a variable pitch instruction sent by a variable pitch controller, so that load optimization control of the wind generating set based on the forward and backward acceleration of the engine room and the rotating speed deviation of the generator is realized; it includes:
a data measuring unit for measuring the fore-and-aft acceleration a of the nacelleoGenerator speed omegaoAnd a real-time pitch angle, wherein the measured nacelle fore-aft acceleration aoAnd generator speed omegaoObtaining filtered fore-and-aft acceleration a of the engine room through a second-order low-pass filternacelleAnd the filtered generator speed omegafI.e. anacelle＝ao*F(s)，ωf＝ωoF(s), wherein F(s) is a second order low pass filter transfer function, and
where ξ is the damping coefficient, ω is the frequency, and s is a variable in the complex frequency domain;
a generator speed deviation calculation unit for calculating a generator speed deviation omegaerrorThe calculation formula is as follows: omegaerror＝ωf-ωsetpointIn the formula, ωsetpointSetting a rotating speed value of the generator;
a monitoring index value calculation unit for calculating a monitoring index value U by calculating the forward and backward acceleration a of the nacelleoDeviation omega from generator speederrorMultiplying to obtain a monitoring index value U, wherein the calculation formula is as follows: u ═ ao*ωerror；
The threshold value calculating and comparing unit is used for calculating threshold values F corresponding to different pitch angles and comparing the threshold values F with the monitoring index values U, and the specific operation is as follows: firstly, establishing a corresponding table of real-time pitch angle and a threshold value F according to the operation data of the wind generating set, calculating the size of the threshold value F under different pitch angles according to the linear interpolation of the corresponding table, comparing the size with a monitoring index value U, starting a pitch regulation strategy if the monitoring index value U is greater than or equal to the threshold value F, namely U is greater than or equal to F, and not starting the pitch regulation strategy if the monitoring index value U is less than the threshold value F, namely U is less than F;
the variable pitch set value calculating and issuing unit is used for calculating a variable pitch set value, namely a final variable pitch instruction, and sending the final variable pitch instruction to a variable pitch actuator of a variable pitch system to adjust the pitch angle of the blade; the specific operation of calculating the given variable-pitch value is as follows: when U is larger than or equal to F, starting a pitch regulation strategy, and then regulating the pitch to a set value pitchdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalSuperimposing an additional pitch angle Δ pitch, wherein the additional pitch angle is equal to the specific pitch rate Δ pitch multiplied by a pitch controller cycle time constant, pitchdemand＝pitchoriginal+ Δ pitchangle; if U is less than F, the pitch regulation strategy is not started, and the pitch regulation set value pitch is changed at the momentdemandOriginal pitch instruction pitch equal to pitch controller outputoriginalI.e. pitchdemand＝pitchoriginal。
4. A control module for preventing overspeed of a wind power plant according to claim 3, characterized in that: in the threshold calculation and comparison unit, the threshold F is calculated by: when the real-time pitch angle falls in a pitch angle interval A which is smaller than the pitch angle and smaller than the pitch angle D, calculating the size of a corresponding threshold value F by adopting a linear interpolation method; when the real-time pitch angle is smaller than or equal to A, taking the threshold value F as E, namely, the pitch angle is smaller than or equal to A, and F is equal to E; when the real-time pitch angle is greater than or equal to D, the threshold value F is I, namely, the pitch angle is greater than or equal to D, and F is equal to I.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011337540.0A CN112523941B (en) | 2020-11-25 | 2020-11-25 | Control method and module for preventing wind generating set from overspeed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011337540.0A CN112523941B (en) | 2020-11-25 | 2020-11-25 | Control method and module for preventing wind generating set from overspeed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112523941A CN112523941A (en) | 2021-03-19 |
| CN112523941B true CN112523941B (en) | 2021-11-09 |
Family
ID=74993727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011337540.0A Active CN112523941B (en) | 2020-11-25 | 2020-11-25 | Control method and module for preventing wind generating set from overspeed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112523941B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113644848B (en) * | 2021-07-13 | 2022-08-23 | 江苏大学 | Permanent magnet synchronous motor position sensorless control method based on segmentation threshold |
| CN114198252A (en) * | 2021-11-16 | 2022-03-18 | 重庆海装风电工程技术有限公司 | Control method and device for inhibiting overspeed of rotor of wind generating set |
| CN114294153B (en) * | 2022-01-10 | 2023-03-31 | 江苏金风科技有限公司 | Control method, device and equipment for wind generating set |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103527405A (en) * | 2013-01-17 | 2014-01-22 | 成都阜特科技股份有限公司 | Double-fed type wind generating set variable pitch control method |
| CN104533717A (en) * | 2014-12-12 | 2015-04-22 | 中船重工(重庆)海装风电设备有限公司 | Method and system for suppressing tower vibration |
| EP2963284A1 (en) * | 2014-06-30 | 2016-01-06 | General Electric Company | Methods and systems to operate a wind turbine system |
| CN105649875A (en) * | 2015-12-31 | 2016-06-08 | 北京金风科创风电设备有限公司 | Variable pitch control method and device of wind generating set |
| CN109812382A (en) * | 2019-01-28 | 2019-05-28 | 柳盼 | A kind of tower frame for wind generating set vibration control method and system |
| CN110529335A (en) * | 2019-09-29 | 2019-12-03 | 三一重能有限公司 | Control method and wind power generating set for inhibiting blower to exceed the speed limit |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2339743B1 (en) * | 2008-10-16 | 2018-07-25 | Mitsubishi Heavy Industries, Ltd. | Wind power generation system, and its control method |
-
2020
- 2020-11-25 CN CN202011337540.0A patent/CN112523941B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103527405A (en) * | 2013-01-17 | 2014-01-22 | 成都阜特科技股份有限公司 | Double-fed type wind generating set variable pitch control method |
| EP2963284A1 (en) * | 2014-06-30 | 2016-01-06 | General Electric Company | Methods and systems to operate a wind turbine system |
| CN104533717A (en) * | 2014-12-12 | 2015-04-22 | 中船重工(重庆)海装风电设备有限公司 | Method and system for suppressing tower vibration |
| CN105649875A (en) * | 2015-12-31 | 2016-06-08 | 北京金风科创风电设备有限公司 | Variable pitch control method and device of wind generating set |
| CN109812382A (en) * | 2019-01-28 | 2019-05-28 | 柳盼 | A kind of tower frame for wind generating set vibration control method and system |
| CN110529335A (en) * | 2019-09-29 | 2019-12-03 | 三一重能有限公司 | Control method and wind power generating set for inhibiting blower to exceed the speed limit |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112523941A (en) | 2021-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112523941B (en) | Control method and module for preventing wind generating set from overspeed | |
| US11536249B2 (en) | Determining control settings for a wind turbine | |
| US9476407B2 (en) | Method of operating a wind turbine | |
| CN111788383B (en) | Thrust balance control for constraint-based multi-rotor wind turbines | |
| CN109891091B (en) | Dynamically controlled wind turbine shutdown | |
| CN109751187B (en) | Variable-rate feathering shutdown method of wind generating set based on cabin acceleration | |
| CN103527405B (en) | A kind of double-feedback aerogenerator group variable pitch control method | |
| Bottasso et al. | Cyclic pitch control for the reduction of ultimate loads on wind turbines | |
| CN106762405A (en) | A kind of control method and device that can suppress wind power generating set hypervelocity | |
| CN112196732B (en) | Fan master control pitch and torque instruction processing system | |
| CN113586335A (en) | Wind driven generator overspeed prevention group control method and system for large turbulence working condition | |
| Aho et al. | Optimal trajectory tracking control for wind turbines during operating region transitions | |
| CN112610410B (en) | Wind generating set tower clearance regulation and control method and module | |
| US11846270B2 (en) | Control method and device of a wind park | |
| CN113323804B (en) | Control method and module for solving second-order front and back vibration of wind generating set tower | |
| CN112610411B (en) | Control method and module for solving clearance problem of tower of wind generating set | |
| CN114109718B (en) | Load control method for wind turbine generator in shutdown state | |
| CN113848698B (en) | Incremental PID dynamic adjustment control method of pitch controller | |
| CN113669201B (en) | Limit load control method for wind turbine generator under extreme conditions | |
| CN113915059B (en) | Vibration control method and system for tower of wind generating set | |
| Gambier | Pitch Control of Large Wind Turbines During the Shutdown Operation | |
| CN115045798A (en) | Load reduction control method and system for wind turbine generator under extreme gust | |
| Liu et al. | Variable Speed Control Analysis of Direct-Drive Wind Turbines Incorporating the Variable Gain Pitch Knowledge Identification Algorithm | |
| CN117662370A (en) | Intelligent wind generating set control method and system | |
| CN115750209A (en) | Load reduction method and system for wind generating set |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |