CN113090456A - Method, system and equipment for controlling pitch angle of wind turbine generator set under strong wind condition - Google Patents
Method, system and equipment for controlling pitch angle of wind turbine generator set under strong wind condition Download PDFInfo
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- CN113090456A CN113090456A CN202110449697.0A CN202110449697A CN113090456A CN 113090456 A CN113090456 A CN 113090456A CN 202110449697 A CN202110449697 A CN 202110449697A CN 113090456 A CN113090456 A CN 113090456A
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a method, a system and equipment for controlling the pitch angle of a wind generating set under the condition of strong wind, which belong to the field of wind power generation. After the operation parameter of the generator is judged to exceed the threshold value, a time accumulation mode is innovatively introduced, and the PID parameter of the control loop under the higher operation parameter can be used only when the time accumulation threshold value is exceeded, so that the frequent switching of the PID parameter setting caused by frequent operation parameter change is avoided. Therefore, the operation parameters of the wind generating set are better controlled, and the requirements for different pitch variation action responses under different operation parameters are met.
Description
Technical Field
The invention belongs to the field of wind power generation, and relates to a method, a system and equipment for controlling the pitch angle of a wind turbine generator set under the condition of strong wind.
Background
The wind generating set has different variable pitch control strategies under different wind speeds, and after the rated wind speed is reached, the rotating speed of the generator is continuously changed due to the continuous fluctuation of the wind speed, and at the moment, the absorbed wind energy needs to be controlled by continuously adjusting the pitch angle positions of three blades by taking the rotating speed of the generator to be controlled at a set point through variable pitch control so as to reach a control target. The pitch control algorithm generally takes the rotation speed difference as control input, and adopts a classical PID control algorithm to calculate the corresponding pitch angle. Because the sensitivity of the pneumatic torque to the pitch angle is different under different wind speeds, PID parameters under different pitch angles are independently set through different working points, but the rotating speed-pitch control target under different wind speeds is generally to control the rotating speed of the generator to be at the rated rotating speed, the PID parameter setting principle is based on the rotating speed-pitch control target, and under the condition that the wind speed fluctuates severely and the rotating speed fluctuates greatly, the pitch response of the unit under different rotating speeds cannot be well considered by adopting one set of PID parameter setting, so that the unit is difficult to determine the optimal PID parameters in the constraint of fatigue load and ultimate load. Therefore, the adjustment of the variable pitch control strategy of the unit is necessary, so that the unit adopts different PID parameters under different rotating speeds to respond to variable pitch response under different working conditions.
The existing technical scheme aiming at the problem comprises the following steps: and determining the variable pitch control parameters suitable for the current working state according to the current working state of the wind generating set. However, in the existing control strategy, the state of a unit such as a rotating speed is taken as a judgment condition, and a unified coefficient is multiplied by the existing PID parameter to meet the requirements of different pitch response, but the sensitivity of the pneumatic torque to the pitch angle is inconsistent due to different rotating speed fluctuation conditions, so that the control effect is still to be improved.
Disclosure of Invention
The invention aims to overcome the defect that a control strategy takes the unit states such as rotating speed and the like as judgment conditions to cause lower control effect in the prior art, and provides a method, a system and equipment for controlling the pitch angle of a wind turbine unit under the condition of strong wind.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a method for controlling the pitch angle of a wind turbine generator under the condition of strong wind comprises the following steps:
step 1) obtaining current generator operation parameters;
step 2) comparing the current generator operation parameter with a generator operation parameter setting threshold;
state one), if the current generator operation parameter is smaller than the generator operation parameter setting threshold value, resetting the time, acquiring a first set of control loop PID operation parameter setting from a control parameter list, calculating a variable pitch position instruction according to the first set of control loop PID operation parameter setting, and carrying out variable pitch action response;
state two) if the current generator operation parameter is larger than or equal to the generator operation parameter setting threshold, starting timing when the generator operation parameter exceeds the generator operation parameter setting threshold, and acquiring the time accumulation threshold when the generator operation parameter exceeds the threshold;
comparing the time when the generator operation parameter exceeds the threshold value with the accumulated threshold value when the generator operation parameter exceeds the threshold value;
if the time that the generator operating parameter exceeds the threshold value is less than the time that the generator operating parameter exceeds the threshold value and is accumulated by the threshold value, acquiring a first set of PID operating parameter setting of a control loop from a control parameter list, calculating a variable pitch position instruction according to the first set of PID operating parameter setting of the control loop, and carrying out variable pitch action response;
and if the time of the generator operation parameter exceeding the threshold value is more than or equal to the time of the generator operation parameter exceeding the threshold value accumulated threshold value, acquiring the second set of control loop PID operation parameter setting from the control parameter list, calculating a pitch variation position instruction according to the second set of control loop PID operation parameter setting, and performing pitch variation action response.
Preferably, in step 1), after obtaining the current generator operating parameter, filtering is performed on the current generator operating parameter.
Further preferably, the filtering is low-pass filtering.
Preferably, the generator operating parameters include any one or more of wind speed, power and pitch angle.
Preferably, in step 2), the obtaining process of the generator operation parameter setting threshold is as follows:
firstly, obtaining a rated revolution value of the operating parameter of the generator, then obtaining an operating parameter setting threshold coefficient of the generator, and calculating to obtain an operating parameter setting threshold of the generator based on the operating parameter setting threshold coefficient of the generator.
Preferably, the control loop PID parameter settings comprise a proportional gain parameter setting, an integral time constant or a differential coefficient.
A wind turbine generator pitch angle control system in high wind conditions, comprising:
the data acquisition module is used for acquiring real-time operation parameter data of the wind turbine generator;
and the control module is used for judging the operation state according to the current operation parameters, acquiring the operation parameter setting based on the control parameter list, making a variable pitch position instruction and responding to the variable pitch action.
Preferably, the data acquisition module comprises a data storage unit for storing the acquired real-time operating parameters of the generator;
the control module comprises a data processing unit and a judging unit;
the data processing unit is used for processing the running parameters of the generator;
the judging unit is used for comparing the current generator operation parameter with a generator operation parameter setting threshold value and making a variable pitch position instruction according to a comparison result.
Preferably, the control module is a PLC controller.
A terminal device comprising a memory, a processor and a computer program stored in said memory and being executable on said processor, said processor implementing the steps of said method for controlling a pitch angle of a wind park in high wind conditions when executing said computer program.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a pitch angle control method of a wind generating set under the condition of strong wind, which judges whether a pitch control parameter of the wind generating set needs to be adjusted or not by detecting the running parameter of a generator, if the pitch control parameter exceeds a design threshold value, another set of independently arranged control loop PID parameters is started, the sensitivity of different pneumatic torques under different running parameters to the pitch angle is considered to the maximum extent, and the response of the wind generating set to the pitch action of responding to different running parameters under different wind conditions is improved. After the operation parameter of the generator is judged to exceed the threshold value, a time accumulation mode is innovatively introduced, and the PID parameter of the control loop under the higher operation parameter can be used only when the time accumulation threshold value is exceeded, so that the frequent switching of the PID parameter setting caused by frequent operation parameter change is avoided. The invention adopts the setting of a plurality of sets of control loop PID parameters, overcomes the defect of the setting of one set of rotating speed-variable pitch control loop PID parameters in the traditional mode, and adopts the generator operating parameters as the judgment conditions to schedule two sets of PID parameter settings, thereby better controlling the operating parameters of the wind generating set and meeting the requirements of different variable pitch action responses under different operating parameters.
Further, the rotating speed of the generator is used as a judgment condition, when the rotating speed fluctuation range is low, the rotating speed-variable pitch loop PID control parameter corresponding to the rotating speed-variable pitch loop PID control parameter is adopted, so that the variable pitch action response follows the low wind speed fluctuation, when the rotating speed fluctuation range is high, the rotating speed-variable pitch loop PID control parameter corresponding to the rotating speed-variable pitch loop PID control parameter is adopted, so that the variable pitch action response follows the high wind speed fluctuation, and the variable pitch response action of the wind turbine generator set under the condition of large wind speed change is facilitated.
Furthermore, the rotating speed of the generator is measured as input, the rotating speed of the generator is one of the most reliable measuring signals in the control input signals of the wind generating set, and the condition that judgment is not accurate enough due to the fact that the wind speed is measured by the cabin anemoscope or the acceleration of the cabin is measured by the vibration sensor is avoided.
Furthermore, the PID parameters of the two loops can be independently set at different working points of different operation parameter intervals and different pitch angles, so that the characteristic of better coping with different operation working conditions is achieved, and poor control effect caused by uniformly multiplying the gain coefficient is avoided.
Furthermore, the method for measuring the rotating speed of the generator is not suitable for using the original signal due to the measuring device or the estimation algorithm and the like, and the filtering processing is needed, so that the influence of unnecessary measurement interference signals on the control effect is avoided.
Further, when the judgment condition is met, the control system triggers the control logic, and the embodiment adopts two sets of PID parameters of the rotating speed-variable pitch control loop, but is not limited to two sets, and other sets of PID parameters with more forms and independent setting can also be adopted.
Further, when the determination condition is satisfied, the control system triggers the control logic, and the present embodiment adopts a manner of determining the generator speed, but is not limited to this manner, and other determination conditions such as determining a power change, a pitch angle change, a wind speed change, and the like may also be adopted.
The invention discloses a pitch angle control system of a wind turbine generator set under the condition of strong wind, which innovatively adopts two sets of independent loop PID parameter settings, and takes the rotating speed control effect of a generator at the current moment as a condition for judging whether the generator set responds to the variable pitch control parameters or not, thereby better considering that the variable pitch control responds to the rotating speed fluctuation correspondingly under different wind speeds, enabling the rotating speed fluctuation to be more stable, and considering design constraints such as fatigue, ultimate load and the like.
Drawings
FIG. 1 is a flow chart of a pitch angle control method of a wind generating set under a strong wind condition according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
example 1
As shown in FIG. 1, a method for controlling the pitch angle of a wind turbine generator under high wind conditions comprises the following steps:
step 1) obtaining current generator operation parameters;
step 2) comparing the current generator operation parameter with a generator operation parameter setting threshold;
state one), if the current generator operation parameter is smaller than the generator operation parameter setting threshold value, resetting the time, acquiring a first set of control loop PID operation parameter setting from a control parameter list, calculating a variable pitch position instruction according to the first set of control loop PID operation parameter setting, and carrying out variable pitch action response;
state two) if the current generator operation parameter is larger than or equal to the generator operation parameter setting threshold, starting timing when the generator operation parameter exceeds the generator operation parameter setting threshold, and acquiring the time accumulation threshold when the generator operation parameter exceeds the threshold;
comparing the time when the generator operation parameter exceeds the threshold value with the accumulated threshold value when the generator operation parameter exceeds the threshold value;
if the time that the generator operating parameter exceeds the threshold value is less than the time that the generator operating parameter exceeds the threshold value and is accumulated by the threshold value, acquiring a first set of PID operating parameter setting of a control loop from a control parameter list, calculating a variable pitch position instruction according to the first set of PID operating parameter setting of the control loop, and carrying out variable pitch action response;
and if the time of the generator operation parameter exceeding the threshold value is more than or equal to the time of the generator operation parameter exceeding the threshold value accumulated threshold value, acquiring the second set of control loop PID operation parameter setting from the control parameter list, calculating a pitch variation position instruction according to the second set of control loop PID operation parameter setting, and performing pitch variation action response.
Example 2
A method for controlling the pitch angle of a wind turbine generator under the condition of strong wind comprises the following steps:
step 1) the invention judges whether the variable pitch control parameters of the unit need to be further adjusted in real time by detecting the rotating speed of the generator and comparing whether the rotating speed exceeds a threshold value.
And 2) detecting the current rotating speed omega of the generator and transmitting a measurement signal to the master control PLC.
And 3) because of the measurement mode, the signal conversion, the estimation method and the like of the generator rotating speed measurement device, the directly obtained rotating speed measurement signal has interference components and is not suitable for directly participating in a control algorithm.
And 4) performing low-pass filtering on the currently measured rotating speed of the generator to obtain a currently filtered rotating speed value lpf _ omega of the generator.
And 5) acquiring a current rated rotating speed set value ratedomega of the generator.
And 6) acquiring a threshold coefficient omegathresholdfactor for setting the rotating speed of the generator.
And 7) multiplying the set value ratedomega of the rated rotating speed of the generator in the step 5 by the set threshold coefficient omegathresholdfactor of the rotating speed of the generator obtained in the step 6 to obtain the set threshold value omegathreshold of the rotating speed of the generator.
And 8) judging the current filtered generator rotating speed value lpf _ omega obtained in the step 4 and the generator rotating speed setting threshold value omegathreshold obtained in the step 7.
And 9) entering a step 10 if the current filtered generator speed value lpf _ omega is smaller than the generator speed setting threshold value omegathreshold obtained in the step 7.
And step 10), clearing the time when the rotating speed of the generator exceeds a set threshold value of the rotating speed of the generator, namely, the omegaIncrease time is 0.
And 11) acquiring a first set of PID parameter setting of the rotating speed-variable pitch control loop from the control parameter list.
And step 12) setting the first set of PID parameters of the rotating speed-variable pitch control loop obtained in the step 11 as Pitchcommand _ slow according to the calculated variable pitch position instruction.
And step 13) inputting the pitch position command Pitchcommand _ slow calculated in the step 12 into a pitch actuating mechanism to respond to the pitch action.
Step 14) entering a step 15 if the current filtered generator speed value lpf _ omega is larger than the generator speed setting threshold value omegathreshold obtained in the step 7.
And step 15) starting timing when the rotating speed of the generator exceeds the threshold value, and starting counting by the omegaIncrease time.
Step 16) obtaining the accumulated threshold value omegaIncrease duration when the rotating speed of the generator exceeds the threshold value.
And step 17) judging that the rotating speed of the generator obtained in the step 15 exceeds the threshold time omegaIncrease time and the rotating speed of the generator obtained in the step 16 exceeds the threshold time accumulated threshold value omegaIncrease duration.
Step 18) enter step 19 if the generator speed exceeds the threshold time omegaIncrease time is less than the generator speed exceeds the threshold time accumulation threshold omegaIncrease duration.
And 19) acquiring a first set of PID parameter setting of the rotating speed-variable pitch control loop from the control parameter list.
And 20) setting the PID parameters of the first set of rotating speed-variable pitch control loop obtained in the step 19 as the pitch command _ slow according to the calculation pitch position command.
And step 21) inputting the pitch position command Pitchcommand _ slow calculated in the step 20 into a pitch actuating mechanism to respond to the pitch action.
Step 22) enters step 23 if the generator speed exceeds the threshold time omegaIncrease time is greater than the generator speed exceeds the threshold time accumulation threshold omegaIncrease duration.
And step 23) acquiring a second set of PID parameter setting of the rotating speed-variable pitch control loop from the control parameter list.
And 24) setting the PID parameters of the second set of rotating speed-variable pitch control loop obtained in the step 23 as the Pitchdemand _ fast according to the calculated variable pitch position instruction.
And 25) inputting the pitch position command Pitchcommand _ slow calculated in the step 24 into a pitch actuating mechanism to respond to the pitch action.
Example 3
A method for controlling the pitch angle of a wind turbine generator under the condition of strong wind comprises the following steps:
step 1) the invention judges whether the variable pitch control parameters of the unit need to be further adjusted in real time by detecting the rotating speed of the generator and comparing whether the rotating speed exceeds a threshold value.
And 2) detecting the current rotating speed omega of the generator and transmitting a measurement signal to the master control PLC.
And 3) because of the measurement mode, the signal conversion, the estimation method and the like of the generator rotating speed measurement device, the directly obtained rotating speed measurement signal has interference components and is not suitable for directly participating in a control algorithm.
And 4) performing low-pass filtering on the currently measured rotating speed of the generator to obtain a currently filtered rotating speed value lpf _ omega of the generator.
And 5) acquiring a current rated rotating speed set value ratedomega of the generator.
And 6) acquiring a threshold coefficient omegathresholdfactor for setting the rotating speed of the generator.
And 7) multiplying the set value ratedomega of the rated rotating speed of the generator in the step 5 by the set threshold coefficient omegathresholdfactor of the rotating speed of the generator obtained in the step 6 to obtain the set threshold value omegathreshold of the rotating speed of the generator.
And 8) judging the current filtered generator rotating speed value lpf _ omega obtained in the step 4 and the generator rotating speed setting threshold value omegathreshold obtained in the step 7.
And 9) entering a step 10 if the current filtered generator speed value lpf _ omega is smaller than the generator speed setting threshold value omegathreshold obtained in the step 7.
And step 10), clearing the time when the rotating speed of the generator exceeds the threshold value, namely, the omegaIncrease time is 0.
And 11) acquiring a first set of PID parameter setting of the rotating speed-variable pitch control loop from the control parameter list.
And step 12) setting the first set of PID parameters of the rotating speed-variable pitch control loop obtained in the step 11 as Pitchcommand _ slow according to the calculated variable pitch position instruction.
And step 13) inputting the pitch position command Pitchcommand _ slow calculated in the step 12 into a pitch actuating mechanism to respond to the pitch action.
Step 14) entering a step 15 if the current filtered generator speed value lpf _ omega is larger than the generator speed setting threshold value omegathreshold obtained in the step 7.
And step 15) starting timing when the rotating speed of the generator exceeds the threshold value, and starting counting by the omegaIncrease time.
Step 16) obtaining the accumulated threshold value omegaIncrease duration when the rotating speed of the generator exceeds the threshold value.
And step 17) judging that the rotating speed of the generator obtained in the step 15 exceeds the threshold time omegaIncrease time and the rotating speed of the generator obtained in the step 16 exceeds the threshold time accumulated threshold value omegaIncrease duration.
Step 18) enter step 19 if the generator speed exceeds the threshold time omegaIncrease time is less than the generator speed exceeds the threshold time accumulation threshold omegaIncrease duration.
And 19) acquiring a first set of PID parameter setting of the rotating speed-variable pitch control loop from the control parameter list.
And 20) setting the PID parameters of the first set of rotating speed-variable pitch control loop obtained in the step 19 as the pitch command _ slow according to the calculation pitch position command.
And step 21) inputting the pitch position command Pitchcommand _ slow calculated in the step 20 into a pitch actuating mechanism to respond to the pitch action.
Step 22) enters step 23 if the generator speed exceeds the threshold time omegaIncrease time is greater than the generator speed exceeds the threshold time accumulation threshold omegaIncrease duration.
And step 23) acquiring a second set of PID parameter setting of the rotating speed-variable pitch control loop from the control parameter list.
And 24) setting the PID parameters of the second set of rotating speed-variable pitch control loop obtained in the step 23 as the Pitchdemand _ fast according to the calculated variable pitch position instruction.
And 25) inputting the pitch position command Pitchcommand _ slow calculated in the step 24 into a pitch actuating mechanism to respond to the pitch action.
And 26) obtaining a generator rotating speed set threshold value coefficient omegathresholdfactor1 and a generator rated rotating speed set value ratedomega, and multiplying to obtain a generator rotating speed set threshold value omegathreshold 1.
And 27) judging the current filtered generator speed value and the generator speed setting threshold value omegathreshold1 obtained in the step 26.
And 28) acquiring a third set of PID parameter setting of the rotating speed-variable pitch control loop from the control parameter list.
And 29) if the current filtered generator speed value is greater than a generator speed setting threshold omegathreshold1, setting a third set of speed-variable pitch control loop PID parameters as the Pitchcommand _ fast2 according to the calculated variable pitch position command.
And step 30) inputting the pitch position command Pitchcommand _ fast2 calculated in the step 29 into a pitch actuating mechanism to respond to the pitch action.
It should be noted that, in the rotation speed-pitch control loop, the second set of PID operating parameters can control the rotation speed of the generator with a faster pitch response than the first set of PID operating parameters. The third set of control loop PID operation parameters and the fourth set of control loop PID operation parameters are correspondingly started under different working conditions in practice, and different rotating speed threshold values can also be used as judgment conditions.
Example 4
A wind turbine generator pitch angle control system in high wind conditions, comprising:
the data acquisition module is used for acquiring real-time operation parameter data of the wind turbine generator;
and the control module is used for judging the operation state according to the current operation parameters, acquiring the operation parameter setting based on the control parameter list, making a variable pitch position instruction and responding to the variable pitch action.
The data acquisition module comprises a data storage unit and is used for storing the acquired real-time running parameters of the generator;
the control module comprises a data processing unit and a judging unit;
the data processing unit is used for processing the running parameters of the generator;
the judging unit is used for comparing the current generator operation parameter with a generator operation parameter setting threshold value and making a variable pitch position instruction according to a comparison result.
Example 5
In an exemplary embodiment, a computer device is also provided, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the deep neural network based channel estimation method when executing the computer program. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic, discrete hardware components, etc.
In the prior art, a set of PID parameters of a rotating speed-variable pitch control loop is adopted, the rotating speed is also fluctuated due to the continuous change of the wind speed, and a pitch angle instruction calculated by the currently adopted PID parameters is difficult to meet the control effect under the current wind condition, so that the control effect under the conditions of different wind conditions and different rotating speed fluctuations is ensured by adopting two sets of PID parameters. In order to overcome the defects of the prior art, the embodiment of the invention provides a method for controlling the pitch angle of a wind turbine generator set under the condition of strong wind, which replaces the existing set of PID parameters of a control loop or multiplies the existing PID parameters by a uniform coefficient, thereby avoiding the difference of control effects caused by the sensitivity difference of different aerodynamic torques on the pitch angle. The invention designs a method which can schedule the PID parameter settings of two sets of rotating speed-variable pitch loops by taking the rotating speed of a generator as a judgment condition, so that the PID parameters are independently set for adjusting the sensitivity of the pitch angle according to different pneumatic torques at different wind speeds.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. A method for controlling the pitch angle of a wind turbine generator under high wind conditions is characterized by comprising the following steps:
step 1) obtaining current generator operation parameters;
step 2) comparing the current generator operation parameter with a generator operation parameter setting threshold;
state one), if the current generator operation parameter is smaller than the generator operation parameter setting threshold value, resetting the time, acquiring a first set of control loop PID operation parameter setting from a control parameter list, calculating a variable pitch position instruction according to the first set of control loop PID operation parameter setting, and carrying out variable pitch action response;
state two) if the current generator operation parameter is larger than or equal to the generator operation parameter setting threshold, starting timing when the generator operation parameter exceeds the generator operation parameter setting threshold, and acquiring the time accumulation threshold when the generator operation parameter exceeds the threshold;
comparing the time when the generator operation parameter exceeds the threshold value with the accumulated threshold value when the generator operation parameter exceeds the threshold value;
if the time that the generator operating parameter exceeds the threshold value is less than the time that the generator operating parameter exceeds the threshold value and is accumulated by the threshold value, acquiring a first set of PID operating parameter setting of a control loop from a control parameter list, calculating a variable pitch position instruction according to the first set of PID operating parameter setting of the control loop, and carrying out variable pitch action response;
and if the time of the generator operation parameter exceeding the threshold value is more than or equal to the time of the generator operation parameter exceeding the threshold value accumulated threshold value, acquiring the second set of control loop PID operation parameter setting from the control parameter list, calculating a pitch variation position instruction according to the second set of control loop PID operation parameter setting, and performing pitch variation action response.
2. A method for controlling a pitch angle of a wind park according to claim 1, wherein in step 1) the current generator operational parameters need to be filtered after they have been obtained.
3. A method for control of a pitch angle of a wind park according to claim 2, wherein the filtering is a low pass filtering.
4. A method for control of a pitch angle of a wind park according to claim 1, wherein the generator operational parameters include any one or more of wind speed, power and pitch angle.
5. A method for controlling a pitch angle of a wind park according to claim 1, wherein in step 2) the generator operation parameter setting threshold is obtained as follows:
firstly, obtaining a rated revolution value of the operating parameter of the generator, then obtaining an operating parameter setting threshold coefficient of the generator, and calculating to obtain an operating parameter setting threshold of the generator based on the operating parameter setting threshold coefficient of the generator.
6. A method for control of a pitch angle of a wind park according to claim 1, wherein the control loop PID parameter settings comprise a proportional gain parameter setting, an integral time constant or a differential coefficient.
7. A wind turbine generator pitch angle control system in high wind conditions, comprising:
the data acquisition module is used for acquiring real-time operation parameter data of the wind turbine generator;
and the control module is used for judging the operation state according to the current operation parameters, acquiring the operation parameter setting based on the control parameter list, making a variable pitch position instruction and responding to the variable pitch action.
8. A wind park pitch angle control system according to claim 7, wherein the data acquisition module comprises a data storage unit for storing the acquired real time generator operating parameters;
the control module comprises a data processing unit and a judging unit;
the data processing unit is used for processing the running parameters of the generator;
the judging unit is used for comparing the current generator operation parameter with a generator operation parameter setting threshold value and making a variable pitch position instruction according to a comparison result.
9. A wind park pitch angle control system according to claim 7, wherein the control module is a PLC controller.
10. Terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor when executing the computer program realizes the steps of the method for pitch angle control of a wind park in high wind conditions according to any of claims 1 to 6.
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