CN113391575A - Method and device for identifying online state of variable pitch actuating mechanism of wind generating set - Google Patents
Method and device for identifying online state of variable pitch actuating mechanism of wind generating set Download PDFInfo
- Publication number
- CN113391575A CN113391575A CN202010176231.3A CN202010176231A CN113391575A CN 113391575 A CN113391575 A CN 113391575A CN 202010176231 A CN202010176231 A CN 202010176231A CN 113391575 A CN113391575 A CN 113391575A
- Authority
- CN
- China
- Prior art keywords
- pitch angle
- pitch
- value
- transfer function
- actuating mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2612—Data acquisition interface
Abstract
The disclosure provides a method and a device for identifying the online state of a variable pitch actuating mechanism of a wind generating set. The method comprises the following steps: acquiring a pitch angle set value and a pitch angle measured value of a pitch changing actuating mechanism in a specific time period according to a specific sampling period; obtaining parameters of a transfer function between the given pitch angle value and the measured pitch angle value of the variable pitch actuating mechanism by calculating the obtained given pitch angle value and the obtained measured pitch angle value; and performing online state identification of the pitch actuator using the parameters.
Description
Technical Field
The disclosure relates to the technical field of wind power generation, in particular to a method and a device for identifying an online state of a variable pitch actuating mechanism of a wind generating set.
Background
In the normal operation process of the wind generating set, especially under the normal power generation working condition, the control of the aerodynamic performance of the set is mainly realized by adjusting the pitch angle, so that the wind energy is captured for power generation. In the starting and stopping process, the switching of different working points and the safety protection of the unit are realized by matching the actions of opening and closing the propellers with the unit. The variable pitch actuating mechanism is an extremely important component of a control system of the wind generating set, and the dynamic response characteristic of the variable pitch actuating mechanism directly influences the generating capacity, the load strength and the system safety of the set.
Because some errors are inevitably introduced into the variable pitch executing mechanism in the production, processing and installation processes, and some deviation exists between the actually operated system response and the design value, the unit needs to have the capability of monitoring the real-time state of the variable pitch executing mechanism, find abnormal state parameters in time and perform fault early warning treatment so as to prevent the power generation loss caused by the fault of the variable pitch executing mechanism and even prevent the potential safety hazard of the unit.
The system identification method of the pitch actuator widely adopted at present is a time domain excitation identification method, namely, sinusoidal and step control signals with different amplitudes and frequencies are introduced in a preset range of the pitch angle under a certain wind condition, and the dynamic response of the actual pitch angle is observed to carry out manual identification on the state parameters of the pitch actuator. However, the above identification method includes the following limitations: (1) the method comprises the following steps of (1) having certain requirements on wind conditions, (2) having certain angle range limitation on the pitch angle to be identified, (3) depending on the experience of engineers to a certain extent on the quality of an identification result, (4) requiring the identification operation to be carried out after shutdown operation, the shutdown operation introducing a certain amount of power generation loss, and (5) being limited by an excitation signal, being unable to be used as an online autonomous identification method and having no sustainability.
Disclosure of Invention
Exemplary embodiments of the present disclosure provide a method and an apparatus for identifying an online state of a pitch actuator of a wind turbine generator system, which at least solve the above technical problems and other technical problems not mentioned above, and provide the following advantages.
One aspect of the present disclosure is to provide a method for identifying an online state of a pitch actuator of a wind turbine generator system, where the method may include: acquiring a pitch angle set value and a pitch angle measured value of a pitch changing actuating mechanism in a specific time period according to a specific sampling period; obtaining parameters of a transfer function between the given pitch angle value and the measured pitch angle value of the variable pitch actuating mechanism by calculating the obtained given pitch angle value and the obtained measured pitch angle value; and performing online state identification of the pitch actuator using the parameters.
In the method, in the case where the transfer function is a first-order transfer function, the step of obtaining parameters of the transfer function may include: a time constant of the first order transfer function between the pitch angle setpoint and the pitch angle measurement for the pitch actuator is obtained by calculating the obtained pitch angle setpoint and pitch angle measurement based on the first order transfer function.
In the method, the step of obtaining the time constant may comprise: constructing a function with respect to the time constant by transforming the obtained pitch angle setpoint and pitch angle measurement based on a first order transfer function; and fitting the time constant as a function of the time constant.
Optionally, the step of obtaining the time constant may comprise: determining the value range of the time constant; traversing the time constant in the value range according to a preset step length; and aiming at the determined identification accuracy index, selecting the time constant with the highest identification accuracy index from the value range.
In the method, in the case that the transfer function is a second-order transfer function, the step of obtaining parameters of the transfer function may include: and obtaining the frequency and the damping ratio of the second-order transfer function between the given value and the measured value of the pitch angle of the variable pitch actuator by calculating the obtained given value and the measured value of the pitch angle based on the second-order transfer function.
In the method, before calculating the obtained pitch angle setpoint and pitch angle measurement, the method may further include: and carrying out time delay compensation on the acquired set value of the pitch angle.
In the method, before calculating the obtained pitch angle setpoint and pitch angle measurement, the method may further include: determining a data screening condition based on the working state of the wind generating set and the validity of the data record; and deleting data which do not meet the data screening condition from the acquired pitch angle set value and pitch angle measured value.
Another aspect of the present disclosure is to provide a pitch actuator online status identification system of a wind turbine, where the system may include: the variable-pitch executing mechanism is used for executing variable-pitch operation; and a controller, which may be configured to: acquiring a pitch angle set value and a pitch angle measured value of a pitch changing actuating mechanism in a specific time period according to a specific sampling period; obtaining parameters of a transfer function between the given pitch angle value and the measured pitch angle value of the variable pitch actuating mechanism by calculating the obtained given pitch angle value and the obtained measured pitch angle value; and performing online state identification of the pitch actuator using the parameters.
Another aspect of the present disclosure is to provide a pitch actuator online status identification device of a wind turbine generator system, where the device may include: the data acquisition module is used for acquiring a pitch angle set value and a pitch angle measured value of the pitch changing actuating mechanism in a specific time period according to a specific sampling period; and the data processing module is used for calculating the acquired pitch angle set value and the pitch angle measured value to obtain a parameter of a transfer function between the pitch angle set value and the pitch angle measured value of the variable pitch actuating mechanism, and performing online state identification of the variable pitch actuating mechanism by using the parameter.
According to another exemplary embodiment of the present disclosure, a computer readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, implements the method for identifying an online state of a pitch actuator of a wind park as described above.
According to another exemplary embodiment of the present disclosure, a computer is provided, which includes a readable medium storing a computer program and a processor, wherein the processor executes the computer program to perform the method for identifying the online state of the pitch actuator of a wind turbine generator system as described above.
The method, the system and the device described above perform autonomous system identification based on normally running pitch angle data, avoid the power generation loss caused by the time domain excitation identification method needing shutdown identification, avoid the uncertainty caused by manual identification, improve the identification precision, reduce the manpower and material resources cost of manual identification, enlarge the pitch angle range and working condition applicable to identification, and provide possibility for realizing long-term online identification, and performing health monitoring and fault early warning for the system.
Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the general inventive concept.
Drawings
These and/or other aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow diagram of a pitch actuator online state identification method according to an exemplary embodiment of the present disclosure;
FIG. 2 is a block diagram of a pitch actuator online state identification system according to an exemplary embodiment of the present disclosure;
FIG. 3 is a block diagram of a pitch actuator online state identification device according to an exemplary embodiment of the present disclosure;
FIG. 4 is a topology diagram of a field level pitch actuator online state identification system according to an exemplary embodiment of the present disclosure.
Detailed Description
The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of the embodiments of the disclosure as defined by the claims and their equivalents. Various specific details are included to aid understanding, but these are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
The online state identification method of the pitch control actuating mechanism of the wind generating set can be embedded into a controller of a single wind generating set as a program to carry out real-time online state identification, can also be arranged at a field end or a cloud end to carry out offline state identification operation, and does not need to introduce an additional hardware device.
Hereinafter, according to various embodiments of the present disclosure, an apparatus and a method of the present disclosure will be described with reference to the accompanying drawings.
FIG. 1 is a flow chart of a pitch actuator online state identification method according to an exemplary embodiment of the present disclosure.
Referring to fig. 1, in step S101, a pitch angle set value and a pitch angle measured value of a pitch actuator within a specific time period are acquired with a specific sampling period. For example, the pitch angle set value of the pitch actuator and the measurement timing value of the wind generating set blade can be acquired within a certain 10 minutes in a sampling period of 20ms under the normal operation state of the wind generating set. However, the above sampling period and the specific time period are merely exemplary and may vary according to actual needs.
Since the present disclosure requires sufficient pitch motion for comparison between a pitch angle setpoint (e.g., as input data) and a pitch angle measurement (e.g., as output data) during a data measurement period, identification of a pitch actuator state parameter is not available, e.g., neither data during startup nor during a low wind torque control segment is suitable for system identification of the pitch actuator. In addition, the field measurement data may be recorded incorrectly due to software and hardware faults, and the corresponding data is obviously not suitable for system identification. Therefore, after obtaining the pitch angle set value and the measured value, the obtained pitch angle set value and the measured value can be subjected to data screening.
As an example, the data screening condition may first be determined based on the operating state of the wind turbine generator system and the validity of the data record, and then the data not satisfying the data screening condition may be deleted from the acquired pitch angle set value and pitch angle measured value. Taking a 6MW unit as an example, the following data screening conditions and corresponding data screening condition determination principles are obtained by performing data analysis on the relationship between the statistical value of the pitch angle and the stability and accuracy of the identification result.
| Data screening conditions | Determination of screening conditions |
| Minimum value of pitch angle>-1.5° | Ensuring the unit to be in a full-firing state of a variable-pitch working section |
| Maximum pitch angle not greater than 80 ° | Removing startup and shutdown state data |
| Span of pitch angle>0.1° | Maintaining adequate pitch action |
| MSE between input and output data<1 | Eliminating data logging error conditions |
Wherein the MSE between the input and output data can be determined by
Expressed, MSE represents the mean square error, N is the number of data points in a set of data, uiFor a given pitch angle value at time point i,
is the average of the pitch angle measurements of the three blades at time point i. However, the above examples are only exemplary, and specific values in the data screening conditions may be adaptively adjusted according to the data analysis results for the characteristics of different units. After determining the data screening conditionsThereafter, pitch angle data that do not satisfy the data screening conditions may be deleted from the obtained data according to the data screening conditions.
In addition, because communication delay exists between the time when the controller gives the pitch control instruction and the time when the controller actually executes the pitch control instruction, response delay caused by a mechanical structure may exist, and therefore delay compensation can be carried out on the given value of the pitch angle. For example, the delay compensation time may be obtained from theoretical calculations, e.g., several times the sampling period. The delay compensation time can also be obtained by simple experimental measurement, i.e. given a step signal, observing how much the response action occurs time lags behind the given time, thereby obtaining the delay compensation time. The delay time is usually determined by a communication mode and a protocol and cannot be changed, so that the delay time can be used as a constant after a delay parameter is obtained through one experiment. However, the above examples are merely exemplary, and the present disclosure is not limited thereto.
In step S102, a parameter of a transfer function between the pitch angle set value and the pitch angle measured value of the pitch actuator is obtained by calculating the obtained pitch angle set value and pitch angle measured value.
In the case of calculation using a first-order transfer function, the time constant of the first-order transfer function between the pitch angle set value and the pitch angle measured value of the pitch actuator may be obtained by mathematically calculating the acquired pitch angle set value and pitch angle measured value based on the first-order transfer function. Specifically, it is possible to take the pitch angle set value as an input value of a first-order transfer function, take the pitch angle measured value as an output value of the first-order transfer function, construct a function with respect to a time constant by mathematically transforming the acquired pitch angle set value and pitch angle measured value based on the first-order transfer function, and then fit the time constant according to the function of the time constant.
As an example, the transfer function of the input and output data of the pitch actuator is assumed to be a first-order lag transfer function, as shown in the following equation (1):
wherein, y(s) represents a pitch angle measured value (i.e. an output value), u(s) represents a pitch angle given value (i.e. an input value), K is a gain, which can be defaulted to 1, and θ represents a delay time introduced by communication delay, which is usually a fixed value and can be obtained by calculation according to the above method, so that the parameter to be identified is only a time constant τ.
After the filtered data is compensated for delay, the transfer function (1) can be simplified to equation (2):
the simplified transfer function (2) is subjected to time domain transformation to obtain equation (3):
further mathematical transformation of equation (3) can result in equations (4), (5) and (6):
through the transformation, the time constant identification problem can be converted into a linear regression problem, for example, the least square method can be adopted to perform analytic solution, and equations (7) and (8) are obtained:
Y＝Xβ+∈ (7)
wherein the content of the first and second substances,
Y＝dy
X＝u-y
wherein, X is independent variable, Y is dependent variable, beta is unknown constant coefficient, epsilon is random error according with normal distribution hypothesis, generally is measurement error, dt is sampling period, and is fixed, then time constant tau can be calculated from slope estimation obtained by the least square method.
Alternatively, a storm algorithm may also be used to fit the time constant. Specifically, a value range of the time constant is determined, the time constant in the determined value range is traversed according to a preset step length, and then the time constant with the highest identification accuracy index is selected from the value range according to the determined identification accuracy index.
As an example, a reasonable identification range (i.e., a value range) can be determined in advance according to a design value of the time constant τ, such as (0,1] second, traversal is performed with a certain step size for a predetermined value range, wherein the step size can be selected by considering the sampling frequency and the calculation resource comprehensively, such as 0.01 second can be selected as a traversal step size for a sampling frequency of 50Hz commonly used in the industry, finally a parameter estimation value with the highest identification accuracy index is selected as an identification result, regarding the selection of the identification accuracy index, a mean square error can be selected as an identification accuracy index, the time constant obtained by identification is brought into a transfer function, the pitch response is reversely deduced by combining a given pitch signal, the mean square error is obtained by using the fitted pitch response and an actual pitch position timing signal, the mean square error describes a matching error of the identified transfer function and the actual response of the system, smaller errors indicate more accurate recognition results, i.e., more descriptive of the system response.
In the case of calculation using a second order transfer function, the frequency and damping ratio parameters of the second order transfer function between the pitch angle given value and the pitch angle measured value of the pitch actuator may be obtained by calculating the obtained pitch angle given value and pitch angle measured value based on the second order transfer function. When the second-order transfer function is subjected to the mathematical transformation, after the second-order transfer function is converted into a time domain, the function of the second-order transfer function parameter is a nonlinear function, so that the parameter needs to be solved by adopting a nonlinear optimization algorithm, and relatively more computing resources are consumed. Compared with a first-order transfer function, online identification of the variable pitch executing mechanism through second-order transfer function parameters is more accurate, but online identification efficiency is lower than that of the first-order transfer function parameters.
In step S103, performing online state identification of the pitch actuator using the obtained parameters of the transfer function. For example, how fast the pitch actuator responds to a given change can be identified from the fitted time constant, i.e. a smaller time constant indicates a faster pitch actuator response, and vice versa.
The fitted identification parameters (e.g. time constant, damping ratio) can be substituted back into the corresponding transfer function to obtain a fitted curve for the pitch angle position, and then the fitted curve is compared with the actual measured curve to compare the deviation between the fitted curve and the actual measured curve, so that the accuracy of the identification result can be measured.
FIG. 2 is a block diagram of a pitch actuator online state identification system according to an exemplary embodiment of the present disclosure.
Referring to FIG. 2, the identification system 200 may include a pitch actuator 201 and a controller 202. In the present disclosure, the controller 202 may be implemented by a master controller or a pitch controller of the wind turbine generator set, however, the present disclosure is not limited thereto.
The controller 202 may acquire a pitch angle given value and a pitch angle measured value of the pitch actuator within a specific time period in a specific sampling period, obtain a parameter of a transfer function between the pitch angle given value and the pitch angle measured value of the pitch actuator by calculating the acquired pitch angle given value and pitch angle measured value, and then perform online state identification of the pitch actuator using the obtained parameter.
In addition, before performing mathematical calculations on the obtained pitch angle set value and pitch angle measured value, the controller 202 may delete data that do not satisfy the data screening condition from the obtained pitch angle set value and pitch angle measured value using a data screening condition determined according to the operating state of the wind turbine generator set and the validity of the data record, and then perform time-delay compensation on the screened pitch angle set value. Thus, the identification parameter can be obtained more accurately. The main consideration factors for determining the data screening condition comprise the working state (or richness of variable pitch actions) of the wind generating set, the effectiveness of data records and the reasonability of the screening condition. Specific numerical values in the data screening conditions can be properly adjusted according to data analysis results aiming at the characteristics of different units.
As an example, the controller 202 may use a first order transfer function to obtain a time constant as the identification parameter. Specifically, the controller 202 may construct a function of a time constant of the first order transfer function between the pitch angle set point and the pitch angle measurement of the pitch actuator by mathematically transforming the acquired pitch angle set point and pitch angle measurement based on the first order transfer function, and then fit the time constant according to the function of the time constant. For example, after the screened pitch angle set values and measured values are subjected to mathematical transformation and delay compensation as described above, the controller 202 may fit the slope to the time constant scattergram by a least square method, so as to obtain the time constant of the first-order transfer function of the pitch actuator.
Alternatively, the controller 202 may traverse the time constants within a predetermined value range by a predetermined step size using a storm algorithm, and then select the time constant with the highest recognition accuracy index from the value range for the determined recognition accuracy index.
Further, the controller 202 may use a second order transfer function to obtain the frequency and damping ratio as the identification parameters. Specifically, the controller 202 may obtain a frequency and a damping ratio of a second order transfer function between a pitch angle set value and a pitch angle measurement value for the pitch actuator by calculating the obtained pitch angle set value and pitch angle measurement value based on the second order transfer function.
FIG. 3 is a block diagram of a pitch actuator online state identification apparatus according to an exemplary embodiment of the present disclosure.
Referring to fig. 3, the identification device 300 may include a data acquisition module 301 and a data processing module 302. Each module in the recognition apparatus 300 may be implemented by one or more modules, and the name of the corresponding module may vary according to the type of the module. In various embodiments, some modules in the identification device 300 may be omitted, or additional modules may also be included. Furthermore, modules/elements according to various embodiments of the present disclosure may be combined to form a single entity, and thus the functions of the respective modules/elements may be equivalently performed prior to the combination.
The data acquisition module 301 may acquire a pitch angle set value and a pitch angle measured value of the pitch actuator within a specific time period with a specific sampling period.
The data processing module 302 obtains parameters of a transfer function between the given pitch angle value and the measured pitch angle value of the pitch actuator by calculating the obtained given pitch angle value and measured pitch angle value, and then performs online state identification of the pitch actuator by using the obtained parameters.
In addition, before performing mathematical computation on the obtained pitch angle set value and pitch angle measured value, the data processing module 302 may delete data that does not satisfy the data screening condition from the obtained pitch angle set value and pitch angle measured value using a data screening condition determined according to the operating state of the wind turbine generator system and the validity of the data record, and then perform delay compensation on the screened pitch angle set value. Thus, the identification parameter can be obtained more accurately. The main consideration factors for determining the data screening condition comprise the working state (or richness of variable pitch actions) of the wind generating set, the effectiveness of data records and the reasonability of the screening condition. Specific numerical values in the data screening conditions can be properly adjusted according to data analysis results aiming at the characteristics of different units.
As an example, the data processing module 302 may use a first order transfer function to obtain a time constant as the identification parameter. Specifically, the data processing module 302 may construct a function of a time constant of the first order transfer function between the pitch angle setpoint and the pitch angle measurement of the pitch actuator by mathematically transforming the obtained pitch angle setpoint and pitch angle measurement based on the first order transfer function, and then fitting the time constant according to the function of the time constant. For example, after the screened pitch angle given values and measured values are subjected to mathematical transformation and delay compensation as described above, the data processing module 302 may fit the slope to the time constant scattergram by a least square method, so as to obtain the time constant of the first-order transfer function of the pitch actuator.
Alternatively, the data processing module 302 may traverse the time constants within the predetermined value range by a predetermined step size using a storm algorithm, and then select the time constant with the highest identification accuracy index from the value range for the determined identification accuracy index.
Further, the data processing module 302 may use a second order transfer function to obtain the frequency and damping ratio as the identification parameters. Specifically, the data processing module 302 may obtain the frequency and damping ratio of the second order transfer function between the pitch angle set value and the pitch angle measurement value for the pitch actuator by calculating the obtained pitch angle set value and pitch angle measurement value based on the second order transfer function.
The data processing module 302 may perform online state recognition of the pitch actuator using the fitted recognition parameters. For example, data processing module 302 may identify how fast the pitch actuators are responding to a given change based on the fitted time constant.
FIG. 4 is a topology diagram of a field level pitch actuator online state identification system according to an exemplary embodiment of the present disclosure.
The online state identification method of the variable pitch actuating mechanism of the wind generating set can be embedded into a controller of a single wind generating set as a program to carry out real-time online state identification, and can also be arranged at a field end or a cloud end to carry out offline state identification operation.
Referring to FIG. 4, assuming there are three wind generating sets 400 in the wind farm, online state identification of each wind generating set pitch actuator in the wind farm may be performed using a farm level controller 401.
The field level controller 401 may acquire a pitch angle given value and a pitch angle measured value of each pitch actuator in the wind farm in a specific time period in a specific sampling period, calculate the acquired pitch angle given value and pitch angle measured value of each pitch actuator to obtain a parameter of a transfer function between the pitch angle given value and the pitch angle measured value of each pitch actuator, and then perform online state identification on each pitch actuator accordingly by using the acquired identification parameter.
One skilled in the art will appreciate that the present disclosure includes apparatus directed to performing one or more of the operations/steps described in the present disclosure. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
The method can obtain the identification parameters of the transfer function of the variable-pitch actuating mechanism of the wind generating set by simply performing data transformation calculation by only utilizing the set value of the pitch angle and the measured value information of the pitch angle of the blade, does not need additional equipment, is convenient and quick, and has the advantages of high identification precision, no power generation quantity loss, labor cost saving, convenience in batch investment, capability of being used as a means for monitoring the health of an online system and the like.
While the disclosure has been shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents.
Claims (11)
1. A method for identifying the online state of a variable pitch actuating mechanism of a wind generating set comprises the following steps:
acquiring a pitch angle set value and a pitch angle measured value of a pitch changing actuating mechanism in a specific time period according to a specific sampling period;
obtaining parameters of a transfer function between the given pitch angle value and the measured pitch angle value of the variable pitch actuating mechanism by calculating the obtained given pitch angle value and the obtained measured pitch angle value;
and performing online state identification of the pitch actuator by using the parameters.
2. The method of claim 1, wherein the transfer function is a first order transfer function, and the step of obtaining parameters of the transfer function comprises:
a time constant of the first order transfer function between the pitch angle setpoint and the pitch angle measurement for the pitch actuator is obtained by calculating the obtained pitch angle setpoint and pitch angle measurement based on the first order transfer function.
3. The method of claim 2, wherein obtaining the time constant comprises:
constructing a function with respect to the time constant by transforming the obtained pitch angle setpoint and pitch angle measurement based on a first order transfer function;
fitting the time constant as a function of the time constant.
4. The method of claim 2, wherein obtaining the time constant comprises:
determining the value range of the time constant;
traversing the time constant in the value range according to a preset step length;
and aiming at the determined identification accuracy index, selecting the time constant with the highest identification accuracy index from the value range.
5. The method of claim 1, wherein the transfer function is a second order transfer function, and the step of obtaining parameters of the transfer function comprises:
and obtaining the frequency and the damping ratio of the second-order transfer function between the given value and the measured value of the pitch angle of the variable pitch actuator by calculating the obtained given value and the measured value of the pitch angle based on the second-order transfer function.
6. The method according to claim 1, wherein prior to calculating the obtained pitch angle setpoint and pitch angle measurement, the method further comprises:
and carrying out time delay compensation on the acquired set value of the pitch angle.
7. The method according to claim 1, wherein prior to calculating the obtained pitch angle setpoint and pitch angle measurement, the method further comprises:
determining a data screening condition based on the working state of the wind generating set and the validity of the data record;
and deleting the data which do not meet the data screening condition from the acquired pitch angle set value and the pitch angle measured value.
8. A pitch actuator online state identification system of a wind generating set, the system comprising:
the variable-pitch executing mechanism is used for executing variable-pitch operation; and
a controller configured to:
acquiring a pitch angle set value and a pitch angle measured value of a pitch changing actuating mechanism in a specific time period according to a specific sampling period;
obtaining parameters of a transfer function between the given pitch angle value and the measured pitch angle value of the variable pitch actuating mechanism by calculating the obtained given pitch angle value and the obtained measured pitch angle value;
and performing online state identification of the pitch actuator by using the parameters.
9. A pitch control actuating mechanism online state identification device of a wind generating set, the device comprises:
the data acquisition module is used for acquiring a pitch angle set value and a pitch angle measured value of the pitch changing actuating mechanism in a specific time period according to a specific sampling period; and
and the data processing module is used for calculating the acquired pitch angle set value and the pitch angle measured value to obtain a parameter of a transfer function between the pitch angle set value and the pitch angle measured value of the variable pitch actuating mechanism, and performing online state identification of the variable pitch actuating mechanism by using the parameter.
10. An electronic device, comprising:
a memory for storing a program; and
one or more processors for performing one or more of the above-described operations,
wherein the one or more processors perform the method of any one of claims 1 to 7 when the program is run.
11. A computer-readable recording medium in which a program is stored, characterized in that the program comprises instructions for executing the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010176231.3A CN113391575A (en) | 2020-03-13 | 2020-03-13 | Method and device for identifying online state of variable pitch actuating mechanism of wind generating set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010176231.3A CN113391575A (en) | 2020-03-13 | 2020-03-13 | Method and device for identifying online state of variable pitch actuating mechanism of wind generating set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113391575A true CN113391575A (en) | 2021-09-14 |
Family
ID=77616140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010176231.3A Pending CN113391575A (en) | 2020-03-13 | 2020-03-13 | Method and device for identifying online state of variable pitch actuating mechanism of wind generating set |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113391575A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010076557A2 (en) * | 2008-12-30 | 2010-07-08 | Statoil Asa | Blade pitch control in a wind turbine installation |
| US20120029892A1 (en) * | 2011-05-19 | 2012-02-02 | Matthias Thulke | Condition monitoring of windturbines |
| CN103454106A (en) * | 2013-08-29 | 2013-12-18 | 国家电网公司 | Static testing method for actuating mechanism of variable pitch system of wind turbine generator |
| CN103544525A (en) * | 2013-10-17 | 2014-01-29 | 国网甘肃省电力公司电力科学研究院 | Method for identifying parameters of synchronous wind-driven generators on basis of improved particle swarm optimization algorithm |
| CN103742359A (en) * | 2013-12-26 | 2014-04-23 | 南车株洲电力机车研究所有限公司 | Device, system and method for wind turbine generator control parameter re-adjustment on basis of model identification |
| CN105351153A (en) * | 2015-12-18 | 2016-02-24 | 中国大唐集团科学技术研究院有限公司 | Performance evaluation method for variable-pitch controller of wind generation set |
| CN107544286A (en) * | 2017-08-30 | 2018-01-05 | 浙江力太科技有限公司 | A kind of system identifying method in evaporization process |
| CN109861310A (en) * | 2019-02-28 | 2019-06-07 | 上海电力学院 | Supercritical thermal power unit primary frequency control system recognizes Variable Selection |
| CN109973301A (en) * | 2017-12-28 | 2019-07-05 | 新疆金风科技股份有限公司 | The method and apparatus of wind generating set pitch control are controlled under extreme turbulent flow wind regime |
| CN110032706A (en) * | 2019-04-17 | 2019-07-19 | 山东科技大学 | A kind of the two stages method for parameter estimation and system of low order time lag system |
| CN110071667A (en) * | 2019-05-10 | 2019-07-30 | 福建省宏闽电力工程监理有限公司 | Doubly-fed wind generator parameter identification method |
-
2020
- 2020-03-13 CN CN202010176231.3A patent/CN113391575A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010076557A2 (en) * | 2008-12-30 | 2010-07-08 | Statoil Asa | Blade pitch control in a wind turbine installation |
| US20120029892A1 (en) * | 2011-05-19 | 2012-02-02 | Matthias Thulke | Condition monitoring of windturbines |
| CN103454106A (en) * | 2013-08-29 | 2013-12-18 | 国家电网公司 | Static testing method for actuating mechanism of variable pitch system of wind turbine generator |
| CN103544525A (en) * | 2013-10-17 | 2014-01-29 | 国网甘肃省电力公司电力科学研究院 | Method for identifying parameters of synchronous wind-driven generators on basis of improved particle swarm optimization algorithm |
| CN103742359A (en) * | 2013-12-26 | 2014-04-23 | 南车株洲电力机车研究所有限公司 | Device, system and method for wind turbine generator control parameter re-adjustment on basis of model identification |
| CN105351153A (en) * | 2015-12-18 | 2016-02-24 | 中国大唐集团科学技术研究院有限公司 | Performance evaluation method for variable-pitch controller of wind generation set |
| CN107544286A (en) * | 2017-08-30 | 2018-01-05 | 浙江力太科技有限公司 | A kind of system identifying method in evaporization process |
| CN109973301A (en) * | 2017-12-28 | 2019-07-05 | 新疆金风科技股份有限公司 | The method and apparatus of wind generating set pitch control are controlled under extreme turbulent flow wind regime |
| CN109861310A (en) * | 2019-02-28 | 2019-06-07 | 上海电力学院 | Supercritical thermal power unit primary frequency control system recognizes Variable Selection |
| CN110032706A (en) * | 2019-04-17 | 2019-07-19 | 山东科技大学 | A kind of the two stages method for parameter estimation and system of low order time lag system |
| CN110071667A (en) * | 2019-05-10 | 2019-07-30 | 福建省宏闽电力工程监理有限公司 | Doubly-fed wind generator parameter identification method |
Non-Patent Citations (6)
| Title |
|---|
| 兰杰;林淑;王其君;林志明;: "基于变桨速率给定信号的变桨系统响应测试分析", vol. 7, no. 02, pages 298 - 300 * |
| 刘峰: "《系统辨识与建模》", 31 March 2019, pages: 27 - 28 * |
| 吴定会: "基于SDW-LSI算法的风力机故障估计与容错控制", 《电力系统保护与控制》, vol. 45, no. 4, 16 February 2017 (2017-02-16), pages 539 - 68 * |
| 查卫华: "《核能发电系统参数辨识研究》", 31 July 2014, pages: 75 - 76 * |
| 梁达平;坚德毅;马志鑫;张文海;: "一种改进型Smith预估算法的风电机组变桨控制器", no. 06, pages 28 - 32 * |
| 高峰: "大型风力发电机组的前馈模糊-PI 变桨距控制", 《动力工程》, vol. 28, no. 4, 31 August 2008 (2008-08-31), pages 75 - 76 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20190067946A1 (en) | System and method for distribution load forecasting in a power grid | |
| AU2018298513B2 (en) | Method, electronic device and storage media for monitoring a fatigue damage of a blade of a wind turbine unit | |
| CN111414703B (en) | Method and device for predicting residual life of rolling bearing | |
| CN113868953B (en) | Multi-unit operation optimization method, device and system in industrial system and storage medium | |
| CN109063818B (en) | Thermal process model online identification method and device | |
| CN113626767B (en) | Fan electricity limiting identification method, system, equipment and storage medium | |
| CN102531121A (en) | Optimum input forecast system of water treatment coagulant and forecast method | |
| CN116887569B (en) | Data center energy consumption prediction and energy saving adjustment method, system and storage medium | |
| CN111669123A (en) | Method and device for fault diagnosis of photovoltaic string | |
| CN116086537A (en) | Equipment state monitoring method, device, equipment and storage medium | |
| CN113869604A (en) | Wind power prediction method and system based on WRF wind speed prediction | |
| CN116306798A (en) | Ultra-short time wind speed prediction method and system | |
| CN110298765B (en) | Power distribution network power consumption abnormality detection method based on objective correlation factors | |
| CN107808209B (en) | Wind power plant abnormal data identification method based on weighted kNN distance | |
| CN101872163B (en) | Process monitoring method based on recursive non-linear partial least squares | |
| CN113391575A (en) | Method and device for identifying online state of variable pitch actuating mechanism of wind generating set | |
| CN117029968A (en) | Traffic data diagnosis method, system, storage medium and electronic equipment | |
| CN110716534A (en) | Industrial process oscillation detection method based on self-tuning variational modal decomposition | |
| CN113567164B (en) | Systematic evaluation prediction method for wind farm technical transformation requirements | |
| EP3869286A1 (en) | System and method for detecting turbine underperformance and operation anomaly | |
| CN113283157A (en) | System, method, terminal and medium for predicting life cycle of intelligent stamping press part | |
| CN106022972B (en) | Power distribution network abnormal data identification method based on state matrix symmetry | |
| CN117408855B (en) | Reservoir engineering safety management method, system, storage medium and computer equipment | |
| CN114942066B (en) | Electric spindle error indirect prediction method and device | |
| CN116241420A (en) | Fan blade icing fault diagnosis method, system, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 830026 No. 107, Shanghai Road, Urumqi economic and Technological Development Zone, the Xinjiang Uygur Autonomous Region Applicant after: Jinfeng Technology Co.,Ltd. Address before: 830026 No. 107, Shanghai Road, Urumqi economic and Technological Development Zone, the Xinjiang Uygur Autonomous Region Applicant before: XINJIANG GOLDWIND SCIENCE & TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information |