CN112539136A - Torsional vibration suppression control method for responding to continuous turbulence excitation - Google Patents

Torsional vibration suppression control method for responding to continuous turbulence excitation Download PDF

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CN112539136A
CN112539136A CN202011374787.XA CN202011374787A CN112539136A CN 112539136 A CN112539136 A CN 112539136A CN 202011374787 A CN202011374787 A CN 202011374787A CN 112539136 A CN112539136 A CN 112539136A
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pass filter
band
frequency
torsional vibration
amplitude
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CN112539136B (en
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贾锋
许喆
符杨
刘璐洁
葛晓琳
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Shanghai Electric Power University
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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 
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/06—Control effected upon clutch or other mechanical power transmission means and dependent upon electric output value of the 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
    • F05B2270/1032—Torque
    • 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
    • F05B2270/32—Wind 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
    • F05B2270/327—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
    • F05B2270/70—Type of control algorithm
    • 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
    • F05B2270/705—Type of control algorithm proportional-integral
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2101/00—Special adaptation of control arrangements for generators
    • H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
    • 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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  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Wind Motors (AREA)

Abstract

The invention relates to a torsional vibration suppression control method for responding to continuous turbulent excitation, which comprises the following steps: step 1: adding a low-pass filter after a torque reference value generated by the conventional generator torque control of the wind turbine generator and setting a parameter tau in the low-pass filter; step 2: performing controller parameter optimization design of applying shafting active damping aiming at a band-pass filter in the conventional generator torque control of the wind turbine generator; and step 3: optimally designing a proportionality coefficient of a rotating speed loop PI regulator in the conventional generator torque control of the wind turbine generator; and 4, step 4: when any one of the steps 1, 2 and 3 is executed singly or the steps 1, 2 and 3 are executed in combination in sequence, forced torsional vibration under continuous excitation of turbulent flow is restrained and controlled. Compared with the prior art, the invention has the advantages of better restraining forced torsional vibration under the continuous excitation of turbulent flow and the like.

Description

Torsional vibration suppression control method for responding to continuous turbulence excitation
Technical Field
The invention relates to the technical field of generator torque control, in particular to a torsional vibration suppression control method for responding to continuous turbulent excitation.
Background
Turbulent wind is an excitation source continuously acting on a shafting, and has adverse effects on fatigue damage of shafting components (including gear boxes, bearings and blades) and other components, so that the components fail in advance, and the efficient and reliable operation of a wind turbine generator is not facilitated.
The most similar realization scheme of the invention is to extract the shafting torsional vibration characteristic frequency component of the rotating speed of the generator through a band-pass filter and apply active damping according to the extracted component.
Under the excitation of random fluctuation wind speed, the shafting torsional vibration has characteristic frequency components and forced torsional vibration which is matched with the wind speed fluctuation frequency and has wider frequency distribution.
Analysis shows that the prior art can only play a good role in inhibiting shafting torsional vibration frequency components, and has no effect on forced torsional vibration and may have negative effects (related to parameters of a band-pass filter).
In addition, the bandpass filter designed in the prior art, taking the most commonly used second-order bandpass filter as an example, includes three parameters, namely a bandpass filter gain coefficient, a bandpass filter damping ratio and a bandpass filter center frequency. At present, there is no unified design standard for the gain coefficient and the damping ratio of the band-pass filter. In addition, the design of the center frequency of the prior art band pass filter does not take into account the effect of electrical damping changes on the damped oscillation frequency.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks of the prior art and providing a torsional vibration suppression control method for coping with continuous turbulent excitation, as a forced torsional vibration stabilization method capable of coping with continuous turbulent excitation, including eliminating the negative effects of the prior art on forced torsional vibration.
The purpose of the invention can be realized by the following technical scheme:
a torsional vibration suppression control method for coping with persistent turbulence excitation, the method comprising the steps of:
step 1: adding a low-pass filter after a torque reference value generated by the conventional generator torque control of the wind turbine generator and setting a parameter tau in the low-pass filter;
step 2: optimally designing a proportionality coefficient of a rotating speed loop PI regulator in the conventional generator torque control of the wind turbine generator;
and step 3: performing parameter optimization design on a band-pass filter for applying shafting active damping in the conventional generator torque control of the wind turbine generator;
and 4, step 4: when any one of the steps 1, 2 and 3 is executed singly or the steps 1, 2 and 3 are executed in combination in sequence, forced torsional vibration under continuous excitation of turbulent flow is restrained and controlled.
Further, the step 1 comprises the following sub-steps:
step 101: adding a low-pass filter after a torque reference value generated by the conventional generator torque control of the wind turbine generator;
step 102: and establishing a transfer function from the small wind speed disturbance to the small transmission torque disturbance, and setting the parameter tau in the low-pass filter on the principle that the amplitude-frequency response comprehensive decline of the transfer function is most obvious.
Further, the step 102 includes the following sub-steps:
step 1021: according to a relational expression between a torque reference value and the rotating speed of the generator in the conventional generator torque control of the wind turbine generator, linearizing the generator at a certain steady-state working point and performing Laplace transformation to obtain small disturbance delta omega of the wind speed of the generatorg(s) Small disturbance Δ T to Generator Transmission TorqueeTransfer function of(s)
Figure BDA0002807901460000021
Step 1022: respectively linearizing a transmission system model and a wind turbine pneumatic model comprising flexible connections by using the steady-state working point in the step 1021 and performing laplace transform;
step 1023: comprehensive linearized transmission system model and wind turbinePneumatic model and transfer function
Figure BDA0002807901460000022
Train writing obtains a transfer function from wind speed fluctuation to transmission shaft torque fluctuation
Figure BDA0002807901460000023
Further compiling amplitude-frequency response curves under parameters in different low-pass filters;
step 1024: and setting the parameters in the low-pass filter by a qualitative or quantitative method based on the amplitude-frequency response curves under the parameters in different low-pass filters.
Further, the step 1024 of setting the parameters in the low-pass filter by a qualitative method based on the amplitude-frequency response curves of the parameters in the different low-pass filters specifically includes: gradually increasing the low-pass filter parameter tau and comparing at different tau
Figure BDA0002807901460000024
The amplitude-frequency response curve meets the frequency range below 0.1Hz
Figure BDA0002807901460000025
Is not beyond the frequency of 0
Figure BDA0002807901460000026
The maximum value of tau for the condition of amplitude-frequency response is the preferred low-pass filter parameter.
Further, the process of setting the parameters in the low-pass filter by a quantitative method based on the amplitude-frequency response curves of the parameters in different low-pass filters in the step 1024 specifically includes the following steps:
step S1: establishing an energy spectrum density PSD (omega) for describing distribution of natural wind speed containing energy in different frequency bands according to historical wind speed data of the geographical position of the wind turbine generator;
step S2: taking wind speed energy spectral density and under different low-pass filter parameters tau
Figure BDA0002807901460000031
Integrating the frequency by multiplying the amplitude-frequency response to obtain an integral value
Figure BDA0002807901460000032
The minimum corresponding parameter tau is the optimal filter parameter;
the upper and lower limits of the integral in the step S2 are selected as
Figure BDA0002807901460000033
Amplitude-frequency response and τ equal to 0
Figure BDA0002807901460000034
The amplitude-frequency response satisfies a frequency interval corresponding to a difference condition, where the difference condition specifically includes: any frequency less than omega1At the current value of tau in the frequency band
Figure BDA0002807901460000035
Amplitude-frequency response and τ equal to 0
Figure BDA0002807901460000036
The relative error of the amplitude-frequency response is less than a certain value, such as 1%; any frequency greater than omega2At the current value of tau in the frequency band
Figure BDA0002807901460000037
Amplitude-frequency response and τ equal to 0
Figure BDA0002807901460000038
The relative error of the amplitude-frequency response is less than a certain value, such as 1%.
Further, the optimization design of step 2 specifically includes: the proportional parameter kp of the rotating speed loop PI regulator for controlling the torque of the generator of the wind turbine generator is reduced, and the control logic of the original proportional parameter can be recovered when the rotating speed deviates from the rotating speed reference value and is less than a set value.
Further, the step 3 specifically comprises the following sub-steps:
step 301: determining a gain coefficient of the band-pass filter according to the fatigue limit of the shafting key component;
step 302: taking a gain coefficient of a band-pass filter as equivalent self-damping of a generator to determine damped oscillation frequency of a shafting dominant oscillation mode, and designing the center frequency of the band-pass filter as the damped oscillation frequency;
step 303: the remaining parameters of the filter are designed according to the pass band frequency width of the band pass filter.
Further, the process of determining the gain coefficient of the band-pass filter according to the fatigue limit of the shafting key component in step 301 specifically includes: and on the basis of field test data or simulation data, gradually increasing the gain coefficient of the band-pass filter, and taking the corresponding gain coefficient as the gain coefficient of the band-pass filter when the corresponding torsional vibration of the shafting dominant oscillation mode is within the fatigue limit of the corresponding component.
Further, the step 303 specifically includes: when a second-order band-pass filter is adopted, the damping ratio of the filter is 0.2-0.3; if other band-pass filters are adopted, the other parameters of the band-pass filter are designed according to the principle that the pass-band frequency width of the band-pass filter is the same as the damping ratio of the second-order band-pass filter of 0.2-0.3.
Further, the torsional vibration suppression control method for responding to the continuous turbulence excitation can also be used for load reduction of other components except for a transmission shaft of the wind power transmission system, including torsional vibration of the flexible blade in a rotating plane.
Compared with the prior art, the invention has the following advantages:
(1) the control method comprises the following steps of 1: adding a low-pass filter after a torque reference value generated by the conventional generator torque control of the wind turbine generator and setting parameters in the low-pass filter; step 2: performing controller parameter optimization design of applying shafting active damping aiming at a band-pass filter in the conventional generator torque control of the wind turbine generator; and step 3: the three steps of optimization design are carried out aiming at the proportionality coefficient of a rotating speed ring PI regulator in the conventional generator torque control of the wind turbine generator, so that forced torsional vibration under the continuous excitation of turbulence can be better inhibited.
(2) By adopting the three sub-technologies of the invention, namely corresponding to the steps 1, 2 and 3 in the control method or adopting the first sub-technology and the second sub-technology of the invention, namely corresponding to the steps 1 and 2 in the control method, the torque of the transmission shaft under the excitation of turbulent flow can be effectively reduced.
Drawings
FIG. 1 is a schematic diagram of a control logic corresponding to the control method of the present invention;
fig. 2 is a schematic diagram of a PI control logic for automatically adjusting a scaling factor according to an embodiment of the present invention, in which fig. 2(a) is a schematic diagram of a conventional PI control logic, and fig. 2(b) is a schematic diagram of a PI control logic for automatically adjusting a scaling factor;
FIG. 3 is a schematic diagram of the testing effect of the control method of the present invention under turbulent wind with an average wind speed of 5 m/s;
FIG. 4 is a schematic diagram of the testing effect of the control method of the present invention under turbulent wind with an average wind speed of 8 m/s;
FIG. 5 shows the control method of the present invention under different parameters τ
Figure BDA0002807901460000041
Amplitude-frequency characteristic graph of (2).
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
Before the scheme of the invention, the conclusion that the shafting electrical damping provided by the generator torque needs to be low enough in a low frequency band and high enough near a shafting torsional vibration dominant oscillation mode when the shafting torsional vibration for turbulent excitation is obtained based on theoretical analysis. Based on the above conclusion as a principle and guidance, the three sub-technologies of the invention are designed, and can obtain certain effect when being used independently, and the effect is better when being used in combination.
The first sub-technique comprises the following steps: and eliminating the shafting electrical damping of a low frequency band by adopting a low-pass filter.
Firstly, adding a low-pass filter after a torque reference value generated by the torque control of a generator of a wind turbine generator
Figure BDA0002807901460000051
Obtaining a new generator torque reference value, and recording as a generator torque reference value 1;
secondly, establishing a transfer function from small wind speed disturbance to small transmission shaft torque disturbance
Figure BDA0002807901460000052
To be at
Figure BDA0002807901460000053
The most obvious comprehensive decline of the amplitude-frequency response is to set the parameter tau in the low-pass filter in principle;
the method comprises the following specific steps:
firstly, according to a relational expression between a generator torque reference value 1 and a generator rotating speed, linearizing the generator torque reference value at a certain steady-state working point and performing Laplace transform to obtain small disturbance delta omega of the generator rotating speedg(s) Small disturbance Δ T to Generator TorqueeTransfer function of(s)
Figure BDA0002807901460000054
Respectively linearizing a transmission system model and a wind turbine pneumatic model which comprise flexible connections at the same steady-state working point in the step I and performing Laplace transform;
third, the transmission system model of the comprehensive linearization, the wind turbine pneumatic model of the linearization and
Figure BDA0002807901460000055
can be obtained by column writingTransfer function from wind speed fluctuation to drive shaft torque fluctuation
Figure BDA0002807901460000056
Further, the parameters T can be programmed under different conditions
Figure BDA0002807901460000057
The amplitude-frequency response curve of (a);
corresponding to the embodiment, when the generator torque adopts the optimal torque control and applies the low-pass filter
Figure BDA0002807901460000058
And when active damping is applied through the band pass filter, the generator torque can be written as:
Figure BDA0002807901460000059
linearization of the above equation can be obtained
Figure BDA00028079014600000510
For the two-mass-block shafting model at the steady-state working point (T)a0＝Ts0＝Te0) Linearizing and performing pull-type transformation (s is a pull-type operator), and obtaining:
Figure BDA0002807901460000061
the pneumatic torque of the wind turbine is as follows:
Figure BDA0002807901460000062
in the maximum power tracking section, dCp/d lambda is approximately equal to 0, and the pneumatic torque is linearized to obtain:
Figure BDA0002807901460000063
the transfer function from wind speed fluctuation to transmission shaft torque fluctuation can be obtained by integrating (2), (3) and (5)
Figure BDA0002807901460000064
Figure BDA0002807901460000065
Fourthly, the design method of qualitative parameter tau is to draw parameters under different parameters tau
Figure BDA0002807901460000066
In order to obtain a frequency-amplitude characteristic curve in most frequency bands
Figure BDA0002807901460000067
Has a significantly reduced amplitude-frequency response and only a small fraction of the frequency bands
Figure BDA0002807901460000068
The amplitude-frequency response of (a) slightly rises to set the parameter tau in the low-pass filter in principle.
In this embodiment, the above analysis is applied to a specific wind turbine generator to obtain
Figure BDA0002807901460000069
The amplitude-frequency response of (a) is shown in fig. 5, where τ ═ 0 is equivalent to not using a low-pass filter (i.e., the conventional control structure in the prior art). In this case, it can be seen that when τ is 10, it is within 0.1Hz
Figure BDA00028079014600000610
When none of the amplitude-frequency responses exceeds the frequency 0
Figure BDA00028079014600000611
An amplitude-frequency response; when tau is 15, around 0.006Hz
Figure BDA00028079014600000612
When the amplitude-frequency response exceeds the frequency of 0
Figure BDA00028079014600000613
Amplitude-frequency response. Therefore, in this case, τ is preferably 10 or so.
A design method of a quantitative parameter tau, and also needs to combine historical wind speed data of the region.
Specifically, according to historical wind speed data of the geographical position of the wind turbine generator, an energy spectrum density PSD (omega) describing distribution of natural wind speed containing energy in different frequency bands is established so as to
Figure BDA00028079014600000614
Representing different frequencies omega
Figure BDA00028079014600000615
Computing the amplitude-frequency response of the signal under different parameters tau
Figure BDA00028079014600000616
Wherein the integral upper limit frequency omega2The natural wind speed is chosen such that it contains almost no fluctuating component above this frequency (typically an angular frequency corresponding to 2 Hz), and the lower integral limit frequency ω1Taken as tau not
Figure BDA0002807901460000071
The frequency cut-off point where the influence is produced (typically the angular frequency corresponding to 0.0002 Hz).
Figure BDA0002807901460000072
The parameter τ corresponding to the minimum is the preferred parameter τ design value.
And a second sub-technique: and optimally designing the parameters of a controller for applying shafting active damping through band-pass filtering conventionally.
In the first step, the gain coefficient of the band-pass filter is determined according to the fatigue limit (also known as fatigue strength) of the key component of the shafting. Specifically, by adopting field test data or simulation data, when the gain coefficient of the band-pass filter is gradually increased to enable most torsional vibration of a shafting dominant oscillation mode to fall within the fatigue limit of a corresponding component, the gain coefficient of the band-pass filter at the moment is considered to be appropriate;
secondly, taking the gain coefficient of the band-pass filter as the equivalent self-damping of the generator, determining damped oscillation frequency of a dominant oscillation mode of a shafting, and designing the center frequency of the band-pass filter to be the damped oscillation frequency;
taking a two-mass-block shafting model as an example, when the self-damping of the generator and the self-damping of the wind turbine are neglected, the original shafting model is as follows
Figure BDA0002807901460000073
An undamped oscillation frequency can be obtained
Figure BDA0002807901460000074
Unit rad/s.
When the action of the band-pass filter is taken into account, the gain coefficient of the band-pass filter is calculated when the damped oscillation frequency is obtained
Figure BDA0002807901460000075
Writing the equivalent self-damping column as a generator in a shafting model to obtain:
Figure BDA0002807901460000076
from this, a characteristic root can be obtained, wherein there is a pair of conjugate complex roots σ + j ω, and the imaginary part thereof corresponds to the angular frequencies ω and ωoscIf the imaginary part is close to the imaginary part, the angular frequency ω corresponding to the imaginary part is the damped oscillation frequency.
And thirdly, designing the rest parameters of the filter according to the passband frequency width of the bandpass filter. Specifically, when a second-order band-pass filter is used, the damping ratio of the filter is 0.2 to 0.3; if other band-pass filters are adopted, the other parameters of the band-pass filter are designed on the principle that the pass-band frequency width of the band-pass filter and the damping ratio of the second-order band-pass filter are 0.2-0.3.
And a third sub-technique: and reducing the proportional coefficient kp of a rotating speed loop PI regulator for controlling the torque of the generator of the wind turbine generator. Considering the problem that the reduction of the proportional coefficient kp of the rotating speed loop PI regulator can cause the increase of the fluctuation of the rotating speed of the unit, the kp is required to be reduced only when the rotating speed deviates from the rotating speed reference value and is small; when the rotating speed deviates from the rotating speed reference value greatly, the original proportional coefficient is recovered.
An example of a specific PI for automatically adjusting the scaling factor is shown in fig. 2, where Kp is a parameter in conventional PI control. When the conventional PI is replaced by the PI with the automatic proportional coefficient adjustment, if the absolute value of the rotating speed deviation of the rotating speed ring is small, Kp1 is less than Kp; if the absolute value of the rotating speed deviation of the rotating speed ring is larger than b2, the output of the hysteresis ring is 1, and therefore the proportionality coefficient is automatically adjusted to the original Kp value.
Actual simulation verification:
the invention is feasible through simulation verification. Under a turbulent wind speed with a section of average wind speed of 5m/s, three groups of simulations with different generator torque control are set, the three groups of simulations respectively adopt the prior band-pass filtering and damping technology, the three sub-technologies of the invention and the first sub-technology and the second sub-technology, and the test result is shown in figure 3. Therefore, the transmission shaft torque under turbulent excitation can be effectively reduced by the technology provided by the invention.
At another turbulent wind speed with an average wind speed of 8m/s, three sets of the same simulations were also set, and the test results are shown in fig. 4. Therefore, the transmission shaft torque under turbulent excitation can be effectively reduced by the technology provided by the invention.
Further embodiments
The present invention is described in terms of torsional vibration of drive shaft torque, which is re-implanted by digestion and absorption and may also be used for torsional vibration suppression of other parts of the drive system, such as torsional vibration of flexible blades in the plane of rotation.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A torsional vibration suppression control method for coping with continuous turbulent excitation, characterized by comprising the steps of:
step 1: adding a low-pass filter after a torque reference value generated by the conventional generator torque control of the wind turbine generator and setting a parameter tau in the low-pass filter;
step 2: optimally designing a proportionality coefficient of a rotating speed loop PI regulator in the conventional generator torque control of the wind turbine generator;
and step 3: performing parameter optimization design on a band-pass filter for applying shafting active damping in the conventional generator torque control of the wind turbine generator;
and 4, step 4: when any one of the steps 1, 2 and 3 is executed singly or the steps 1, 2 and 3 are executed in combination in sequence, forced torsional vibration under continuous excitation of turbulent flow is restrained and controlled.
2. A torsional vibration suppression control method for coping with continuous turbulent excitation according to claim 1, wherein said step 1 comprises the sub-steps of:
step 101: adding a low-pass filter after a torque reference value generated by the conventional generator torque control of the wind turbine generator;
step 102: and establishing a transfer function from the small wind speed disturbance to the small transmission torque disturbance, and setting the parameter tau in the low-pass filter on the principle that the amplitude-frequency response comprehensive decline of the transfer function is most obvious.
3. A torsional vibration suppression control method for coping with continuous turbulent excitation according to claim 2, wherein said step 102 comprises the sub-steps of:
step 1021: according to a relation between a torque reference value and the rotating speed of the generator in the conventional generator torque control of the wind turbine generator, the method is used in a certain steady stateLinearizing the point and performing Laplace transform to obtain small disturbance delta omega of the wind speed of the generatorg(s) Small disturbance Δ T to Generator Transmission TorqueeTransfer function of(s)
Figure FDA0002807901450000011
Step 1022: respectively linearizing a transmission system model and a wind turbine pneumatic model comprising flexible connections by using the steady-state working point in the step 1021 and performing laplace transform;
step 1023: integrated linearized transmission system model, wind turbine pneumatic model and transfer function
Figure FDA0002807901450000012
Train writing obtains a transfer function from wind speed fluctuation to transmission shaft torque fluctuation
Figure FDA0002807901450000013
Further compiling amplitude-frequency response curves under parameters in different low-pass filters;
step 1024: and setting the parameters in the low-pass filter by a qualitative or quantitative method based on the amplitude-frequency response curves under the parameters in different low-pass filters.
4. The torsional vibration suppression control method for dealing with persistent turbulence excitation according to claim 3, wherein the step 1024 of tuning the parameters in the low-pass filter by a qualitative method based on the amplitude-frequency response curves of the parameters in different low-pass filters specifically comprises: gradually increasing the low-pass filter parameter tau and comparing at different tau
Figure FDA0002807901450000021
The amplitude-frequency response curve meets the frequency range below 0.1Hz
Figure FDA0002807901450000022
OfThe frequency response does not exceed the frequency at 0
Figure FDA0002807901450000023
The maximum value of tau for the condition of amplitude-frequency response is the preferred low-pass filter parameter.
5. The torsional vibration suppression control method for dealing with persistent turbulence excitation according to claim 3, wherein the step 1024 of setting the parameters in the low-pass filters by a quantitative method based on the amplitude-frequency response curves of the parameters in different low-pass filters specifically comprises the following steps:
step S1: establishing an energy spectrum density PSD (omega) for describing distribution of natural wind speed containing energy in different frequency bands according to historical wind speed data of the geographical position of the wind turbine generator;
step S2: taking wind speed energy spectral density and under different low-pass filter parameters tau
Figure FDA0002807901450000024
Integrating the frequency by multiplying the amplitude-frequency response to obtain an integral value
Figure FDA0002807901450000025
The minimum corresponding parameter tau is the optimal filter parameter;
the upper and lower limits of the integral in the step S2 are selected as
Figure FDA0002807901450000026
Amplitude-frequency response and τ equal to 0
Figure FDA0002807901450000027
The amplitude-frequency response satisfies a frequency interval corresponding to a difference condition, where the difference condition specifically includes: any frequency less than omega1At the current value of tau in the frequency band
Figure FDA0002807901450000028
Amplitude-frequency response and τ equal to 0
Figure FDA0002807901450000029
The relative error of the amplitude-frequency response is less than a certain value; any frequency greater than omega2At the current value of tau in the frequency band
Figure FDA00028079014500000210
Amplitude-frequency response and τ equal to 0
Figure FDA00028079014500000211
The relative error of the amplitude-frequency response is less than a certain value.
6. The torsional vibration suppression control method for responding to the continuous turbulent excitation according to claim 1, wherein the optimization design of the step 2 specifically comprises: the proportional parameter kp of the rotating speed loop PI regulator for controlling the torque of the generator of the wind turbine generator is reduced, and the control logic of the original proportional parameter can be recovered when the rotating speed deviates from the rotating speed reference value and is less than a set value.
7. A torsional vibration suppression control method for coping with continuous turbulent excitation according to claim 1, wherein said step 3 specifically comprises the following sub-steps:
step 301: determining a gain coefficient of the band-pass filter according to the fatigue limit of the shafting key component;
step 302: taking a gain coefficient of a band-pass filter as equivalent self-damping of a generator to determine damped oscillation frequency of a shafting dominant oscillation mode, and designing the center frequency of the band-pass filter as the damped oscillation frequency;
step 303: the remaining parameters of the filter are designed according to the pass band frequency width of the band pass filter.
8. The method as claimed in claim 7, wherein the step 301 of determining the gain coefficient of the band-pass filter according to the fatigue limit of the shafting critical component specifically comprises: and on the basis of field test data or simulation data, gradually increasing the gain coefficient of the band-pass filter, and taking the corresponding gain coefficient as the gain coefficient of the band-pass filter when the corresponding torsional vibration of the shafting dominant oscillation mode is within the fatigue limit of the corresponding component.
9. A torsional vibration suppression control method for dealing with persistent turbulence excitation as set forth in claim 7, wherein said step 303 specifically includes: when a second-order band-pass filter is adopted, the damping ratio of the filter is 0.2-0.3; if other band-pass filters are adopted, the other parameters of the band-pass filter are designed according to the principle that the pass-band frequency width of the band-pass filter is the same as the damping ratio of the second-order band-pass filter of 0.2-0.3.
10. A torsional vibration suppression control method for responding to persistent turbulence excitation as claimed in any one of claims 1 to 9, characterized in that the torsional vibration suppression control method for responding to persistent turbulence excitation can also be used for load shedding of other components besides the transmission shaft of the wind power transmission system, including torsional vibration of the flexible blade in the rotation plane.
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