CN113217277B - Variable pitch execution tracking supervision control system and method for wind generating set - Google Patents
Variable pitch execution tracking supervision control system and method for wind generating set Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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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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- 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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Abstract
The invention provides a system and a method for tracking and supervising execution of variable pitch of a wind generating set, which are characterized in that a dynamic response process of a first-order variable pitch executing mechanism is introduced into a variable pitch execution error following algorithm, and the deviation of an estimated variable pitch angle position and an actual variable pitch angle position is detected to judge whether the wind generating set suffers from the situation that the variable pitch following error is continuously increased, if the deviation exceeds a set threshold value, the wind generating set enters a halt operation, so that the wind generating set is prevented from experiencing limit load to the greatest extent, and the operation safety of the wind generating set under a complex working condition is improved. The method adopts a mode of predicting the angle position of the variable pitch, overcomes the control effect deviation caused by the fact that the characteristics of the variable pitch actuating mechanism are not considered in the traditional mode, innovatively adopts the dynamic response of the first-order variable pitch actuating mechanism to be combined into the variable pitch following error algorithm, thereby discovering the conditions of the variable pitch following error and trend as soon as possible and triggering the control action so as to protect the unit from adverse effects caused by the aerodynamic imbalance of the impeller.
Description
Technical Field
The invention belongs to the field of wind power generation, and particularly relates to a system and a method for tracking and supervising pitch execution of a wind generating set.
Background
The wind wheel of the horizontal shaft wind driven generator absorbs wind energy to rotate, and then drives the connected generator to rotate to generate electricity. When the wind power is higher than the rated wind speed, the wind generating set absorbs or releases wind energy by adopting a mode of controlling the pitch angle, so that the rotating speed of the set is maintained near the rated rotating speed, and the rated power of the set is maintained in a constant-power or constant-torque mode. Therefore, the control of the pitch angle is particularly important for a control system of the wind generating set, and a series of control actions including shutdown protection and the like are all completed by the control of the pitch angle. The pitch angle control is generally that a demand pitch angle instruction is sent to a variable pitch executing mechanism, and the variable pitch executing mechanism carries out actual variable pitch according to the instruction so as to complete variable pitch action. However, in practical situations, the pitch control actuating mechanism is generally driven by hydraulic pressure or electric power, and the number of elements is large and complex, and the pitch control actuating mechanism does not execute the command of the required pitch angle under the conditions of element failure and the like. The actual execution pitch angles of the three blades are different, so that the aerodynamic torque in the impeller surface is unbalanced. If the load safety of the unit is not timely discovered, a great influence is caused on the load safety of the unit, so that a control algorithm needs to be designed aiming at the actual variable pitch execution problem, the problem is discovered as soon as possible, the unit is shut down and protected in time, and the larger loss is avoided.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a system and a method for tracking and supervising the variable pitch execution of a wind generating set, which fully consider the dynamic response process of a variable pitch execution mechanism, discover the following error of the variable pitch in time, shut down and protect large components of the set in time, and avoid the limit load brought to the large components of the set by the aerodynamic imbalance of an impeller.
In order to achieve the purpose, the invention adopts the technical scheme that: a wind generating set pitch execution tracking supervision control method specifically comprises the following processes:
estimating the pitch angle position of the current wind generating set;
acquiring the actual pitch angle position of the current wind generating set;
comparing the estimated current pitch angle position of the wind generating set with the actual pitch angle position to obtain the difference between the estimated current pitch angle position and the actual pitch angle position;
comparing the difference with a variable pitch following error threshold value, if the difference is smaller than the variable pitch following error threshold value, the variable pitch does not need to be executed continuously, if the difference is larger than the variable pitch following error threshold value, the variable pitch following error accumulation time is recorded, and meanwhile, a variable pitch following error accumulation time threshold value is set;
and comparing the variable pitch following error accumulated time threshold with the variable pitch following error accumulated time, if the variable pitch following error accumulated time is smaller than the variable pitch following error accumulated time threshold, ending the execution of variable pitch, and if the variable pitch following error accumulated time is larger than the variable pitch following error accumulated time threshold, sending a stop instruction.
Estimating the pitch angle position of the current wind generating set specifically as follows:
the current required pitch angle is obtained and,
and combining the current required pitch angle with the transfer function 1/(1 + tau) of the simplified model of the first-order pitch actuator to obtain the estimated pitch angle position, wherein tau is a time constant.
Estimating the pitch angle position of the current wind generating set specifically as follows:
the current required pitch angle is obtained and,
and combining the currently required pitch angle with the simplified model of the second-order pitch control actuating mechanism or the simplified model of the third-order pitch control actuating mechanism to obtain the estimated pitch control angle position.
When the actual pitch angle position of the current wind generating set is obtained: firstly, acquiring an actually measured pitch angle signal, and then carrying out sliding average processing on the pitch angle signal by taking preset time as a sliding average time constant to obtain the actual pitch angle position of the current wind generating set.
The preset time is 20-50 ms.
And when the estimated current pitch angle position of the wind generating set is compared with the actual pitch angle position, obtaining the difference between the two, wherein the difference can be the difference of the two or the percentage of the two.
The shutdown instruction comprises fixed pitch-withdrawing rate shutdown, variable pitch-withdrawing shutdown or power-limited shutdown.
A wind generating set pitch execution tracking and monitoring control system comprises a pitch angle position estimation module, an actual pitch angle position acquisition module, a first comparison module and a second comparison module;
the pitch angle position estimation module is used for estimating the pitch angle position of the current wind generating set;
the actual pitch angle position acquisition module is used for acquiring the actual pitch angle position of the current wind generating set;
the first comparison module is used for comparing the estimated current wind generating set pitch angle position with an actual pitch angle position to obtain a difference between the estimated current wind generating set pitch angle position and the actual pitch angle position, comparing the difference with a pitch variation following error threshold value, if the difference is smaller than the pitch variation following error threshold value, continuing to execute pitch variation is not needed, if the difference is larger than the pitch variation following error threshold value, recording the accumulated time of the pitch variation following error, and meanwhile, setting the accumulated time threshold value of the pitch variation following error;
the second comparison module is used for comparing the variable pitch following error accumulated time threshold with the variable pitch following error accumulated time, if the variable pitch following error accumulated time is smaller than the variable pitch following error accumulated time threshold, executing variable pitch is finished, and if the variable pitch following error accumulated time is larger than the variable pitch following error accumulated time threshold, a stop instruction is sent.
A computer device comprises a processor and a memory, wherein the memory is used for storing a computer executable program, the processor reads part or all of the computer executable program from the memory and executes the computer executable program, and when the processor executes part or all of the computer executable program, the wind generating set pitch execution tracking supervision control method can be realized.
The computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program can realize the pitch execution tracking and supervision control method of the wind generating set.
Compared with the prior art, the invention has at least the following beneficial effects:
the method adopts the variable pitch angle position demand instruction, actually detects the variable pitch angle position and the like as input, and judges the actually detected variable pitch angle position and the estimated variable pitch angle position as judgment conditions, so that the problem that the shutdown time lag is caused by not considering the response time of an actual variable pitch executing mechanism and the extreme load is further aggravated due to the aerodynamic imbalance of the impeller is avoided; meanwhile, judging conditions are adopted for triggering and starting timing, and whether shutdown protection is carried out or not is judged again after a certain time is accumulated so as to avoid control action false triggering and frequent triggering caused by fluctuation of a pitch angle signal; in addition, the control input measurement signals of the invention are all the existing measurable signals, and the control scheme is completed without adding more hardware,
furthermore, a first-order or second-order variable pitch actuating mechanism response model is adopted, so that the variable pitch angle position can be effectively estimated and used as an important reference for variable pitch tracking supervision.
Furthermore, the invention carries out the sliding average processing on the original signal for measuring the pitch angle, thereby avoiding the influence of unnecessary measurement interference signals on the control effect.
The system can obtain the estimated variable pitch angle position by presetting the first-order variable pitch actuating mechanism, and fully considers the response characteristic of the variable pitch actuating mechanism, so that the system can find the variable pitch following error as soon as possible and take control action to protect the unit as soon as possible under the condition that the variable pitch following error is generated and continuously increased.
Drawings
FIG. 1 is a detailed diagram of a control method for tracking and supervising the pitch execution of a wind generating set, which can be implemented by the invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, a wind generating set pitch execution tracking supervision control method specifically includes the following processes:
estimating the pitch angle position of the current wind generating set; and acquiring a current required pitch angle instruction Pitchcommand, and combining the current required pitch angle instruction Pitchcommand with a transfer function 1/(1 + tau s) of a set first-order pitch actuating mechanism simplified model to obtain an estimated pitch angle position Pitchestimed, wherein tau is a time constant, can be obtained according to system identification of a pitch actuating mechanism, and can be generally set to 0.1 s-0.2 s. And the estimated pitch angle position Pitchestimated can also be obtained by using a second-order pitch actuator simplified model.
Acquiring the actual pitch angle position of the current wind generating set; in the present detection cycle, the actual pitch angle position Pitchposition is detected, and since the disturbance signal is present in the measured pitch angle, the measured pitch angle signal is subjected to the moving average processing. The actual pitch angle position Fpitchposition after the sliding average is obtained with 20-50ms as the sliding average time constant in general.
Comparing the estimated current pitch angle position of the wind generating set with the actual pitch angle position to obtain the difference between the estimated current pitch angle position and the actual pitch angle position;
comparing the difference with a variable pitch following error threshold value, if the difference is smaller than the variable pitch following error threshold value, the variable pitch does not need to be executed continuously, if the difference is larger than the variable pitch following error threshold value, the variable pitch following error accumulation time is recorded, and meanwhile, a variable pitch following error accumulation time threshold value is set;
and comparing the variable pitch following error accumulated time threshold with the variable pitch following error accumulated time, if the variable pitch following error accumulated time is smaller than the variable pitch following error accumulated time threshold, ending the execution of variable pitch, and if the variable pitch following error accumulated time is larger than the variable pitch following error accumulated time threshold, sending a stop instruction.
And (3) obtaining the deviation Pitchdiff between the estimated variable pitch angle position and the current variable pitch angle position by subtracting the current actual variable pitch angle position after the sliding average and the estimated variable pitch angle position at the current moment, and comparing the deviation with a preset variable pitch following error threshold Pitchdiffreshold, wherein if the deviation Pitchdiff between the estimated variable pitch angle position and the actual variable pitch angle position after the sliding average is less than the preset variable pitch following error threshold Pitchdiffreshold, the variable pitch following error at the moment is in a set range, further action protection is not needed, and the supervision process can be ended.
If the estimated pitch angle position and the actual pitch angle position deviation Pitchdiff after the sliding average are greater than the preset pitch following error threshold Pitchdiffreshold, the situation that the pitch following error is not in the set range at the moment and the pitch actuating mechanism may have the pitch following error is shown; however, due to the change of wind conditions, both the actual pitch angle position and the required pitch angle position command may have the situations of jumping and the like, and in order to avoid frequent triggering of the logic, a time threshold is set at this time. When the deviation Pitchdiff between the estimated pitch angle position and the actual pitch angle position after the sliding average is larger than a preset pitch following error threshold Pitchdiffreshold, starting the cumulative time of the pitch following error cumulative time Pitchdiffluence and acquiring the pitch following error cumulative time threshold Pitchdiffluence, if the pitch following error cumulative time Pitchdiffluence is smaller than the pitch following error threshold, the tracking supervision process is finished, and if the pitch following error cumulative time Pitchdiffluence is larger than the pitch following error threshold, the situation that the pitch executing mechanism does not execute the required pitch instruction at the moment is shown, and if the continuous operation can affect the load safety of the whole machine, the control system executes the shutdown operation to protect the machine set.
The method provided by the invention can obtain the estimated variable pitch angle position by presetting the first-order variable pitch actuating mechanism, and fully considers the response characteristic of the variable pitch actuating mechanism, so that the variable pitch following error is discovered as soon as possible and the control action is taken as soon as possible to protect the unit under the condition that the variable pitch following error is generated and is continuously increased.
Meanwhile, a first-order variable pitch executing mechanism model is adopted in a variable pitch following error algorithm, and the estimated variable pitch angle position and the actually detected variable pitch angle position deviation are used as conditions for judging whether the unit suffers from continuous increase of the variable pitch following error, so that the early control action is discovered as soon as possible to protect the unit.
According to the invention, the pitch angle position is detected, the estimated pitch angle position is calculated through the demand pitch angle instruction and the first-order or second-order pitch actuator model, the estimated change condition of the pitch angle position and the actual pitch angle position is compared, and whether the demand pitch angle instruction of the unit is correctly executed or not is judged in real time.
And detecting the current pitch angle position Pitchposition and transmitting the measurement signal to the master control PLC.
Due to the measuring mode, signal conversion, estimation method and the like of the pitch angle measuring device, the directly obtained pitch angle measuring signal has interference components and is not suitable for directly participating in the control algorithm. And performing 30-50ms sliding average on the currently measured pitch angle to obtain a pitch angle position Fpitch position after the current sliding average.
And acquiring a current demand pitch angle instruction Pitchcommand, taking the current demand pitch angle instruction Pitchcommand as input, and taking a simplified model of a first-order or second-order variable pitch actuating mechanism as a transfer function to calculate the estimated pitch angle position Pitchinfluenced.
And subtracting the estimated pitch angle position Pitchestimed from the pitch angle position Fpitch after the sliding average to obtain Pitchdiff.
And acquiring a pitch following error threshold Pitchdiffreshold.
Judging the obtained Pitchdiff and the pitch following error threshold Pitchdiffreshold, if the Pitchdiff is smaller than the pitch following error threshold Pitchdiffreshold, ending the logic of the algorithm, if the Pitchdiff is larger than the pitch following error threshold Pitchdiffreshold, indicating that the pitch executing condition has deviation, and starting timing the Pitchdiffration at the moment.
Acquiring a pitch following error accumulated time threshold pitchdamping, and judging the pitch following error accumulated time threshold pitchdamping, wherein if the pitch following error is smaller than the pitch following error accumulated time threshold pitchdamping, the supervision process is ended; and if the pitchdamping duration is greater than the pitch following error accumulation time threshold, the control system executes shutdown operation to fix the pitch-in speed to a specified position.
The invention also provides computer equipment which comprises a processor and a memory, wherein the memory is used for storing the computer executable program, the processor reads part or all of the computer executable program from the memory and executes the computer executable program, and when the processor executes part or all of the computer executable program, the wind generating set pitch execution tracking supervision control method can be realized.
In another aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the computer program can implement the pitch execution tracking and supervision control method for a wind turbine generator system according to the present invention.
The computer equipment can be an onboard computer, a notebook computer, a tablet computer, a desktop computer, a mobile phone or a workstation.
The processor may be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or an off-the-shelf programmable gate array (FPGA).
The memory of the invention can be an internal storage unit of a vehicle-mounted computer, a notebook computer, a tablet computer, a desktop computer, a mobile phone or a workstation, such as a memory and a hard disk; external memory units such as removable hard disks, flash memory cards may also be used.
Computer-readable storage media may include computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. The computer-readable storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a Solid State Drive (SSD), or an optical disc. The Random Access Memory may include a resistive Random Access Memory (ReRAM) and a Dynamic Random Access Memory (DRAM).
Claims (10)
1. A wind generating set pitch execution tracking supervision control method is characterized by comprising the following specific processes:
estimating the pitch angle position of the current wind generating set;
acquiring the actual pitch angle position of the current wind generating set;
comparing the estimated current pitch angle position of the wind generating set with the actual pitch angle position to obtain the difference between the estimated current pitch angle position and the actual pitch angle position;
comparing the difference with a variable pitch following error threshold value, if the difference is smaller than the variable pitch following error threshold value, the variable pitch does not need to be executed continuously, if the difference is larger than the variable pitch following error threshold value, the variable pitch following error accumulation time is recorded, and meanwhile, a variable pitch following error accumulation time threshold value is set;
and comparing the variable pitch following error accumulated time threshold with the variable pitch following error accumulated time, if the variable pitch following error accumulated time is smaller than the variable pitch following error accumulated time threshold, ending the execution of variable pitch, and if the variable pitch following error accumulated time is larger than the variable pitch following error accumulated time threshold, sending a stop instruction.
2. The wind generating set pitch execution tracking supervision control method according to claim 1, characterized in that estimating a current wind generating set pitch angle position is specifically as follows:
the current required pitch angle is obtained and,
and combining the current required pitch angle with the transfer function 1/(1 + tau) of the simplified model of the first-order pitch actuator to obtain the estimated pitch angle position, wherein tau is a time constant.
3. The wind generating set pitch execution tracking supervision control method according to claim 1, characterized in that estimating a current wind generating set pitch angle position is specifically as follows:
the current required pitch angle is obtained and,
and combining the currently required pitch angle with the simplified model of the second-order pitch control actuating mechanism or the simplified model of the third-order pitch control actuating mechanism to obtain the estimated pitch control angle position.
4. The wind generating set pitch execution tracking and supervision control method according to claim 1, characterized in that when obtaining the current wind generating set actual pitch angle position: firstly, acquiring an actually measured pitch angle signal, and then carrying out sliding average processing on the pitch angle signal by taking preset time as a sliding average time constant to obtain the actual pitch angle position of the current wind generating set.
5. The wind generating set pitch execution tracking supervision control method according to claim 4, characterized in that the preset time is 20-50 ms.
6. The method of claim 1, wherein the difference between the estimated current wind turbine generator set pitch angle position and the actual pitch angle position is obtained by comparing the estimated current wind turbine generator set pitch angle position and the actual pitch angle position, and the difference can be a difference value between the estimated current wind turbine generator set pitch angle position and the actual pitch angle position or a percentage of the estimated current wind turbine generator set pitch angle position and the actual pitch angle position.
7. The wind generating set pitch execution tracking supervision control method according to claim 1, characterized in that the shutdown instruction comprises a fixed pitch take-up rate shutdown, a variable pitch take-up shutdown or a power limited shutdown.
8. A wind generating set pitch execution tracking and supervision control system is characterized by comprising a pitch angle position estimation module, an actual pitch angle position acquisition module, a first comparison module and a second comparison module;
the pitch angle position estimation module is used for estimating the pitch angle position of the current wind generating set;
the actual pitch angle position acquisition module is used for acquiring the actual pitch angle position of the current wind generating set;
the first comparison module is used for comparing the estimated current wind generating set pitch angle position with an actual pitch angle position to obtain a difference between the estimated current wind generating set pitch angle position and the actual pitch angle position, comparing the difference with a pitch variation following error threshold value, if the difference is smaller than the pitch variation following error threshold value, continuing to execute pitch variation is not needed, if the difference is larger than the pitch variation following error threshold value, recording the accumulated time of the pitch variation following error, and meanwhile, setting the accumulated time threshold value of the pitch variation following error;
the second comparison module is used for comparing the variable pitch following error accumulated time threshold with the variable pitch following error accumulated time, if the variable pitch following error accumulated time is smaller than the variable pitch following error accumulated time threshold, executing variable pitch is finished, and if the variable pitch following error accumulated time is larger than the variable pitch following error accumulated time threshold, a stop instruction is sent.
9. A computer device is characterized by comprising a processor and a memory, wherein the memory is used for storing a computer executable program, the processor reads part or all of the computer executable program from the memory and executes the computer executable program, and the processor can realize the pitch execution tracking and supervision control method of the wind generating set according to any one of claims 1-7 when executing the part or all of the computer executable program.
10. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the computer program can implement the wind turbine generator system pitch execution tracking supervision control method according to any one of claims 1 to 7.
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