CN113217303B - Self-adaptive resonance rotating speed control method based on life evaluation - Google Patents
Self-adaptive resonance rotating speed control method based on life evaluation Download PDFInfo
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- CN113217303B CN113217303B CN202110687685.1A CN202110687685A CN113217303B CN 113217303 B CN113217303 B CN 113217303B CN 202110687685 A CN202110687685 A CN 202110687685A CN 113217303 B CN113217303 B CN 113217303B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000011156 evaluation Methods 0.000 title claims abstract description 12
- 238000011217 control strategy Methods 0.000 claims abstract description 13
- 238000013461 design Methods 0.000 claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 238000004088 simulation Methods 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 claims description 8
- 230000009191 jumping Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 abstract description 8
- 238000010248 power generation Methods 0.000 abstract description 4
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- 230000036541 health Effects 0.000 description 1
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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
- 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
- F03D7/0276—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling rotor speed, e.g. variable speed
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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
- F03D7/0296—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
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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
A self-adaptive resonance rotating speed control method based on life evaluation is characterized in that vibration data are processed to obtain a vibration magnitude corresponding to resonance risk frequency; performing FFT on the subsequent vibration signals, identifying the peak-to-peak amplitude and the frequency corresponding to the secondary peak, and updating a resonance risk frequency table if the frequency is not within the range of +/-10% of the risk frequency; analyzing peak-to-peak amplitude and sub-peak amplitude of a subsequent vibration signal based on the resonance risk frequency table, and performing self-adaptive jump speed control when the vibration amplitude exceeds a vibration threshold; evaluating the size of the vibration fatigue damage D in real time, increasing a vibration monitoring threshold value when the D is smaller than a design value, and reducing the vibration monitoring threshold value when the D is larger than the design value; the invention solves the problems of unit power generation loss and application to high-flexibility towers and flexible towers caused by a conventional active speed-jumping control strategy, can be used for solving the problem of tower abnormal resonance, relieves the limitation of tower acceleration, and improves about 1% of power generation without adding an additional sensor.
Description
Technical Field
The invention belongs to the technical field of health state monitoring and evaluation of wind turbine generators, and particularly relates to a self-adaptive resonance rotating speed control method based on life evaluation.
Background
With the continuous large-scale development of wind power resources, the existing areas with better wind resources are basically or nearly developed. In areas with poor wind resources, the influence of wind shear can be effectively reduced by increasing the center height of the hub, and the generating capacity is improved, so that the high tower technology becomes an important development direction at present. The steel-flexible tower is an important development direction, has the advantages of simple structure, simple production process and convenient transportation and maintenance, but has low integral rigidity, easily generates resonance between the first order and the second order of the tower and the whole machine 1P, 2P, 3P or even 6P, and has great influence on the stability and the service life of the whole machine.
For a conventional steel tower, the phenomenon that the first-order natural frequency and the rotating speed of the tower generate resonance also exists, and the common control mode is to determine the first-order natural frequency of the tower according to simulation analysis and system identification results. In the unit control strategy, a resonance rotation speed range is set, and the range is generally 10% plus or minus of the first-order frequency of the tower. When the running rotating speed of the unit reaches the range, the rotating speed of the impeller is controlled to rapidly pass through the rotating speed area, and the method is to actively control the rotating speed according to the rotating speed. The control strategy principle is simple and easy to realize, and has wide and mature application on a common flexible tower. However, on higher flexible towers and flexible towers, this method of active speed jump has some drawbacks: for a high-flexibility tower, the frequency azimuth of tower resonance is enlarged, and the tower second order and the rotating speeds 3P, 4P, 5P, 6P and the like may resonate; because the resonance position is enlarged, the loss of the generating capacity can be brought by frequent jumping speed; due to the existence of a plurality of resonance bands, the setting of a control strategy is complex; in conventional system identification, higher-order vibration characteristics of the tower are not easy to identify; for a flexible tower, in the operating condition of the whole machine, besides the frequency conversion, the other operating frequencies of the whole machine can excite the tower to resonate.
Disclosure of Invention
In view of the above-mentioned shortcomings in the prior art, the present invention aims to provide a method for controlling adaptive resonance speed based on lifetime assessment, which can be used to solve the safety problem caused by abnormal resonance of high flexible tower and flexible tower; the jump speed control threshold is adaptively adjusted through vibration damage accumulation calculation, and the problem of unit power generation loss caused by a conventional active jump speed control strategy is solved.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a self-adaptive resonance rotating speed control method based on life evaluation comprises the following three steps:
step S1, recognizing the vibration intensity;
step S2, self-adaptive jump speed control;
and step S3, adjusting the self-adaptive vibration threshold in real time.
In the step S1, a tower resonant risk frequency table to be monitored is set according to the simulation result or the system identification result, multi-path band-pass filtering is performed, and the mean value of the interval time of the filtered signals is solved to obtain the vibration magnitude corresponding to the risk frequency; and performing FFT (fast Fourier transform) on the vibration signal, identifying frequencies corresponding to the peak-to-peak amplitude and the secondary peak amplitude, and updating the resonance risk frequency table to be monitored according to the latest frequency if the frequency is not within the allowable deviation range of the risk frequency.
Step S2 self-adaptive jump speed control; the method specifically comprises the following steps:
recording the maximum amplitude as A1 and the corresponding resonance risk frequency as F1; the second maximum amplitude is recorded as A2, and the corresponding resonance risk frequency is recorded as F2; analyzing the amplitude, implementing self-adaptive jump rotating speed control, determining to start the rapid jump rotating speed according to a simulation result of a normal operation condition when the vibration peak amplitude A1 is greater than a set threshold value G1, wherein the change direction of the jump rotating speed is deviated from the corresponding frequency of F1; when A1 is greater than a set threshold value G2, determining to perform emergency shutdown according to a simulation result of the extreme fault working condition, wherein the threshold value G2 is (1.2-1.3) threshold value G1; when A1 is less than or equal to a set threshold value G1, a secondary large amplitude A2 is further judged, when A2 is greater than a set percentage of A1, a rapid jumping rotating speed is started, and the changing direction of the jumping rotating speed is a rotating frequency corresponding to a deviation F2; and when the A2 is less than the set percentage of A1, the control is carried out according to the optimal control strategy or the rated control strategy of the existing mode of the unit.
Step S3 is to perform adaptive vibration threshold adjustment; the method specifically comprises the following steps:
through the size of aassessment vibration fatigue damage D, dynamic adjustment threshold value G1, the controller is inside to use the settlement time as the interval, according to the vibration condition of unit under every operating mode, through the life damage coefficient that seeks the vibration magnitude of the order of magnitude correspondence, confirm the damage coefficient in this time quantum, and damage D adds up, when D is less than design life loss value D0, enlarge vibration monitoring threshold value, when D is greater than design life loss value D0, reduce vibration monitoring threshold value.
Compared with the prior art, the invention has at least the following beneficial effects:
(1) according to the self-adaptive resonance rotating speed control method based on the service life assessment, the adopted technical combination is mature, the technical risk is small, and signals required for analyzing vibration can be signals reflecting tower vibration amount, such as cabin acceleration, cabin displacement, cabin speed, tower top displacement, tower top acceleration, tower top speed, tower top inclination angle and the like.
(2) And the limitation of the acceleration of the tower is released to a certain extent, and the generated energy can be improved by about 1% without adding an additional sensor.
(3) The invention combines signal analysis, jump speed control and vibration damage evaluation, and realizes double self-adaptation of the speed range and the vibration threshold of the jump speed.
In conclusion, the method is intuitive and clear, is beneficial to solving the problems of unit power generation loss and application defects of a high flexible tower and a flexible tower caused by a conventional active jumping rotating speed control strategy, and can be used for solving other problems of abnormal resonance of the tower.
Drawings
FIG. 1 is a flowchart of an overall scheme of a self-adaptive resonance rotating speed control method based on life evaluation.
Fig. 2 is a flow chart of vibration intensity identification.
FIG. 3 is a flow chart of an adaptive skip speed control strategy.
FIG. 4 is a flow chart of an adaptive vibration threshold adjustment strategy.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
As shown in fig. 1, the invention provides a self-adaptive resonance rotating speed control method based on life evaluation, which can calculate and update a wind turbine resonance risk frequency table in real time by performing multi-path band-pass filtering on acceleration, tower top displacement or tower top inclination angle signals; performing self-adaptive jump rotation speed control based on the resonance risk frequency table; meanwhile, the self-adaptive jump speed control threshold value is further dynamically adjusted by evaluating the vibration fatigue damage.
Specifically, the evaluation method of the present invention comprises the following three steps:
step S1, vibration intensity recognition, as shown in fig. 2.
S1.1, setting a resonance risk frequency table according to a simulation result or a system identification result at the initial running stage of a system, wherein the table comprises all existing resonance risk frequencies;
s1.2, carrying out multi-path band-pass filtering on the acceleration or tower top displacement or tower top inclination angle signals, wherein the center frequency of each filter is resonance risk frequency, and the band-pass range is +/-10% of the resonance risk frequency;
s1.3, carrying out 10S (or other time length) mean value solution on the filtered signals, and taking the mean value as a vibration magnitude corresponding to the resonance risk frequency;
s1.4, after obtaining the vibration magnitude corresponding to the risk frequency, performing FFT (fast Fourier transform) on the vibration signal at an interval of 10 minutes (or other time length) to identify the frequency corresponding to the peak amplitude and the secondary peak amplitude, and if the frequency is not within the range of +/-10% of the resonance risk frequency, updating the resonance risk frequency table or increasing the resonance risk frequency.
And step S2, performing adaptive jump speed control, as shown in FIG. 3.
S2.1, analyzing the amplitude corresponding to the resonance risk frequency according to the resonance risk frequency table identified and obtained in the step S1, and marking the maximum amplitude as A1 and the corresponding resonance risk frequency as F1; the second maximum amplitude is recorded as A2, and the corresponding resonance risk frequency is recorded as F2;
s2.2, judging the maximum amplitude A1, and when the maximum amplitude A1 is larger than a set threshold G1, starting rapid jump rotating speed control, wherein the changing direction of the rotating speed is deviated from the rotating frequency corresponding to the vibration F1;
judging the maximum amplitude A1, and performing emergency stop control on the wind turbine generator when the maximum amplitude A1 is larger than a set threshold G2; threshold G2 ═ (1.2-1.3) × threshold G1;
when the maximum amplitude A1 is smaller than a set threshold G1, continuing to control according to the optimal control strategy or the rated control strategy of the existing mode of the unit;
judging that the secondary large amplitude is A2, and when the secondary large amplitude A2 is 20% larger than the maximum amplitude A1, starting the rapid jump rotating speed, wherein the changing direction of the rotating speed is the rotating frequency corresponding to the deviation from the vibration F2;
the control method for quickly jumping the rotating speed in the optimal control section is similar to the traditional mode, and the rotating speed of the impeller is quickly changed by increasing or reducing the torque; at the rated control end, rapid speed change can be performed by changing the rated speed.
In step S3, the adaptive vibration threshold G1 is adjusted in real time, as shown in fig. 4. The theoretical assumption of linear fatigue damage is adopted, the damage of each 10min normal electricity working condition can be considered to be linearly accumulated, the accumulated value is D, and when D is larger than 1, the service life of the part is considered to reach the limit.
Before field implementation, a simulation method is adopted, first-order and second-order excitation of the tower is manually added, and life damage coefficients (taking 10min as a unit) corresponding to different vibration magnitudes are determined, wherein the relationship of the life damage coefficients corresponding to the vibration magnitudes can be a fitting function, a table look-up method or a proxy model, and the purpose is to quickly estimate equivalent life damage corresponding to different vibration magnitudes under different running states;
before field implementation, a time-varying design life loss coefficient D0 needs to be established according to the annual wind speed distribution. The value can be determined by adopting a simple design life average to every year and then carrying out monthly life distribution according to the change rule of the wind condition of each month.
After the self-adaptive jump speed strategy is adopted, the loss of the generated energy is reduced due to the fact that the limitation of the tower acceleration is released to a certain degree, but extra vibration fatigue damage can be brought by releasing the limitation of the acceleration. At this time, if the size of the damage can be evaluated, the vibration threshold G1 may be further dynamically adjusted.
In step S3, the groups are grouped at intervals of rotating speed below a rated working condition, and at intervals of variable pitch angle above the rated working condition;
and in the step S3, the controller determines the damage coefficient in the time period by searching the life damage coefficient corresponding to the vibration magnitude according to the vibration condition of the unit under each working condition at an interval of 10min, and performs damage D accumulation, and amplifies the vibration monitoring threshold value when D is smaller than the design life loss value D0, and reduces the vibration monitoring threshold value when D is larger than the design life loss value D0.
The above contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention should not be limited thereby, and any modification made on the basis of the technical idea proposed by the present invention falls within the protection scope of the claims of the present invention.
Claims (2)
1. A self-adaptive resonance rotating speed control method based on life evaluation is characterized by comprising the following three steps:
step S1, recognizing the vibration intensity;
step S2, self-adaptive jump speed control;
step S3, adjusting the self-adaptive vibration threshold in real time;
in the step S1, a tower resonant risk frequency table to be monitored is set according to the simulation result or the system identification result, multi-path band-pass filtering is performed, and the mean value of the interval time of the filtered signals is solved to obtain the vibration magnitude corresponding to the risk frequency; performing FFT on the vibration signal, identifying the frequency corresponding to the peak-to-peak amplitude and the secondary peak amplitude, and updating a resonance risk frequency table to be monitored according to the latest frequency if the frequency is not within the allowable deviation range of the risk frequency;
the step S1, the step S2 is self-adaptive jumping rotation speed control; the method specifically comprises the following steps:
recording the maximum amplitude as A1, and recording the corresponding resonance risk frequency as F1; the second maximum amplitude is recorded as A2, and the corresponding resonance risk frequency is recorded as F2; analyzing the amplitude, implementing self-adaptive jump rotating speed control, determining to start the rapid jump rotating speed according to a simulation result of a normal operation condition when the vibration peak amplitude A1 is greater than a set threshold value G1, wherein the change direction of the jump rotating speed is deviated from the corresponding frequency of F1; when A1 is larger than a set threshold value G2, determining to perform emergency shutdown according to a simulation result of an extreme fault working condition, wherein the threshold value G2 is (1.2-1.3) times the threshold value G1; when A1 is less than or equal to a set threshold G1, a secondary large amplitude A2 is further judged, and when A2 is greater than the set percentage of A1, a quick jump rotating speed is started, and the change direction of the jump rotating speed is deviated from the rotating frequency corresponding to F2; and when the A2 is less than the set percentage of A1, performing control according to the optimal control strategy or rated control strategy of the existing mode of the unit.
2. The adaptive resonance speed control method based on lifetime estimation as claimed in claim 1, wherein said step S1, said step S3 performs adaptive vibration threshold adjustment; the method specifically comprises the following steps:
through the size of evaluation vibration fatigue damage D, dynamic adjustment threshold value G1, the controller is inside with the time quantum of setting for the interval, according to the vibration condition of unit under every operating mode, through the life damage coefficient of looking for the vibration magnitude correspondence, confirm the damage coefficient in this time quantum, and carry out damage D and add up, when carrying out damage D and add up, when D is less than design life loss value D0, enlarge vibration monitoring threshold value, when D is greater than design life loss value D0, reduce vibration monitoring threshold value.
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| JP6037302B2 (en) * | 2012-05-01 | 2016-12-07 | 国立大学法人東京工業大学 | Wind power generator |
| JP6665062B2 (en) * | 2016-08-31 | 2020-03-13 | Ntn株式会社 | Condition monitoring device |
| CN108590956A (en) * | 2018-04-27 | 2018-09-28 | 国电联合动力技术有限公司 | A kind of Wind turbines tower resonance evacuation traversing control method and Wind turbines |
| CN111852761B (en) * | 2019-04-30 | 2022-07-12 | 北京金风科创风电设备有限公司 | Rotating speed control method and device of wind generating set |
| CN112985578B (en) * | 2019-12-13 | 2023-09-26 | 中车株洲电力机车研究所有限公司 | Wind turbine generator set resonance diagnosis method and device |
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