CN113595457A - Wind generating set and control system thereof - Google Patents

Wind generating set and control system thereof Download PDF

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Publication number
CN113595457A
CN113595457A CN202110898526.6A CN202110898526A CN113595457A CN 113595457 A CN113595457 A CN 113595457A CN 202110898526 A CN202110898526 A CN 202110898526A CN 113595457 A CN113595457 A CN 113595457A
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China
Prior art keywords
excitation signal
generator
torque
unit
excitation
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CN113595457B (en
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刘嘉明
吴立建
方杭杭
王思奇
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Zhejiang University ZJU
Shanghai Electric Wind Power Group Co Ltd
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Zhejiang University ZJU
Shanghai Electric Wind Power Group Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
    • 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
    • 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 
    • 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
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/20—Wind motors characterised by the driven apparatus
    • F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2101/00—Special adaptation of control arrangements for generators
    • H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Abstract

The application provides a wind generating set and control system thereof, wind generating set control system includes: the main control loop comprises a torque given control unit, a resistance adding control unit and a first merging unit, wherein the first merging unit is used for merging the target torque and the damping torque to obtain a first torque given value; the converter control loop comprises a torque control loop, an active identification unit and a second merging unit, wherein the active identification unit applies an excitation signal to the wind generating set to enable the wind generating set to generate resonance, obtains a resonance state of the wind generating set, determines a resonance torque offset according to the resonance state, the second merging unit is used for merging the first torque given value and the resonance torque offset to obtain a second torque given value, and the torque control loop is used for controlling the generator according to the second torque given value. According to the damping torque automatic regulation method and device, the active recognition unit is arranged in the converter control loop, and the damping torque automatic regulation is achieved.

Description

Wind generating set and control system thereof
Technical Field
The application relates to the field of wind generating sets, in particular to a wind generating set and a control system thereof.
Background
The common resistance adding control of the active transmission chain and the tower is realized by a main control loop of the wind generating set, as shown in fig. 1, a speed observer or an acceleration sensor of the wind generating set extracts a rotating speed fluctuation component omega generated by a generatorg(rpm) and using the rotational speed fluctuation component as an input to a resistance-increasing control unit, the damping torque output by the resistance-increasing control unit
Figure BDA0003198919950000012
Torque specification to converter added to master control loop
Figure BDA0003198919950000011
And the corresponding damping control torque T is output through the control of the converter, so that the torque of the generator is controlled.
At present, the damping torque is manually adjusted based on priori knowledge or field experience, and the finally adjusted damping torque cannot achieve the best effect and cannot ensure the stability of the wind generating set.
Disclosure of Invention
The application provides a wind generating set and a control system thereof.
Specifically, the method is realized through the following technical scheme:
in a first aspect of the embodiments of the present application, a control system of a wind generating set is provided, where the wind generating set includes a generator and a converter; the wind generating set control system comprises:
the main control loop comprises a torque given control unit, a resistance adding control unit and a first merging unit, wherein the torque given control unit is used for determining a target torque of the generator according to the rotating speed of the generator, the resistance adding control unit is used for determining a damping torque according to the rotating speed of the generator obtained by observation of a speed observer of the converter or vibration information of the generator obtained by detection of an external acceleration sensor, and the first merging unit is used for merging the target torque and the damping torque to obtain a first given torque;
the converter control loop comprises a torque control loop, an active identification unit and a second combination unit, wherein the active identification unit applies an excitation signal to the wind generating set to enable the wind generating set to generate resonance, obtains a resonance state of the wind generating set, determines a resonance torque offset according to the resonance state, the second combination unit is used for combining the first given torque and the resonance torque offset to obtain a second given torque, and the torque control loop is used for controlling the generator according to the second given torque.
Optionally, the active identification unit comprises an excitation signal generator for generating the excitation signal in dependence on at least one excitation comprising at least one of a white noise and a sine wave signal generated by a sine wave generator.
Optionally, the excitation comprises white noise, the excitation signal comprising a first excitation signal;
the excitation signal generator comprises a low-pass filter, a high-pass filter and a first gain controller, and the white noise sequentially passes through the low-pass filter, the high-pass filter and the first gain controller to obtain a first excitation signal.
Optionally, the excitation comprises a sine wave signal generated by a sine wave generator, the excitation signal comprising a second excitation signal;
the excitation signal generator comprises a second gain controller, and the sine wave signal is a second excitation signal obtained after passing through the second gain controller.
Optionally, the excitation comprises white noise and a sine wave signal generated by a sine wave generator, the excitation signal comprising a first excitation signal and a second excitation signal;
the excitation signal generator comprises a third merging unit, the third merging unit is used for merging and outputting a first excitation signal and a second excitation signal, the first excitation signal is generated for the white noise, and the second excitation signal is generated for the sine wave signal.
Optionally, the excitation further includes rotation speed of the generator observed by a speed observer of the converter or vibration information of the generator detected by an external acceleration sensor, and the excitation signal further includes a third excitation signal;
the excitation signal generator further comprises a band-pass filter, a lead-lag filter and a third gain controller, the rotating speed of the generator obtained by observation of a speed observer of the converter or vibration information of the generator obtained by detection of an external acceleration sensor sequentially passes through the band-pass filter, the lead-lag filter and the third gain controller to obtain a third excitation signal, and the third combining unit is used for combining the first excitation signal, the second excitation signal and the third excitation signal and outputting the combined signals.
Optionally, the excitation signal generator further includes a saturator, configured to limit the magnitude of the excitation signal output by the third combining unit within a preset excitation signal range and output the limited excitation signal.
Optionally, the active identification unit determines a resonant frequency, a corresponding phase and a gain according to the resonant state, and determines a resonant torque offset according to the resonant frequency, the corresponding phase and the gain.
In a second aspect of the embodiments of the present application, a wind turbine generator system is provided, which includes a generator, a converter and the wind turbine generator system of any one of the first aspect.
According to the technical scheme provided by the embodiment of the application, the active identification unit is arranged in the converter control loop, so that the damping torque is automatically adjusted, the adjusted damping torque is more accurate, and the trouble and inaccuracy of manual adjustment are avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic structural diagram of a conventional wind turbine generator system control system;
FIG. 2 is a schematic structural diagram of a wind turbine generator system control system according to an exemplary embodiment of the present application;
fig. 3 is a schematic diagram of an excitation signal generator according to an exemplary embodiment of the present application.
Reference numerals:
10. a master control loop; 11. a torque setting control unit; 12. a resistance adding control unit; 13. a first merging unit; 20. a converter control loop; 21. a torque control loop; 22. an active identification unit; 221. a low-pass filter; 222. a high-pass filter; 223. a first gain controller; 224. a second gain controller; 225. a third merging unit; 226. a band-pass filter; 227. a lead-lag filter; 228. a third gain controller; 229. a saturator; 23. and a second merging unit.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
The wind turbine generator system and the control system thereof according to the present application will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.
The wind generating set of the embodiment of the application can comprise a generator and a converter.
Referring to fig. 2, an embodiment of the present application provides a wind turbine generator system, which may include a main control circuit 10 and a converter control circuit 20. The main control circuit 10 may include a torque setting control unit 11, a resistance adding control unit 12, and a first merging unit 13, where the torque setting control unit 11 is configured to determine a target torque T of the generator according to a rotation speed of the generator*The resistance adding control unit 12 is used for determining damping torque according to the rotating speed of the generator observed by a speed observer of the converter or the vibration information of the generator detected by an external acceleration sensor
Figure BDA0003198919950000051
The first merging unit 13 is used for merging the target torque T*And damping torque
Figure BDA0003198919950000052
Merging to obtain the first torque set
Figure BDA0003198919950000053
The converter control loop 20 may comprise a torque control loop 21, an active identification unit 22 and a second merging unit 23, wherein the active identification unit 22 is configured to apply an excitation signal to the wind park such that the wind park generates resonance. The active identification unit 22 is further configured to obtain a resonance state of the wind turbine generator system, and determine a resonance torque offset T according to the resonance stateASI. The second merging unit 23 is used for giving the first torque
Figure BDA0003198919950000054
And resonant torque offset TASIAnd the torque control circuit 21 is used for controlling the generator according to the second torque given T, so that the rotating speed of the generator observed by the speed observer of the converter approaches the rotating speed corresponding to the second torque given T.
According to the embodiment of the application, the active identification unit 22 is arranged in the converter control loop 20, so that the damping torque is automatically adjusted, the adjusted damping torque is more accurate, and the trouble and inaccuracy of manual adjustment are avoided.
The active identification unit 22 may include an excitation signal generator for generating an excitation signal according to at least one excitation for improving flexibility, and the excitation of the embodiment of the present application may include at least one of a white noise and a sine wave signal generated by a sine wave generator, but is not limited thereto, and the excitation may also include other types of excitation.
Illustratively, in some embodiments, the excitation comprises white noise and the excitation signal comprises the first excitation signal. The white noise generated signal is random, and the white noise can be closer to reality by taking the white noise as an excitation source. In this embodiment, the excitation signal generator includes a low-pass filter 221, a high-pass filter 222, and a first gain controller 223, and white noise sequentially passes through the low-pass filter 221, the high-pass filter 222, and the first gain controller 223 to obtain a first excitation signal. The filtered white noise exists as an excitation of the excitation source to be closer to reality.
In some embodiments, the excitation comprises a sine wave signal generated by a sine wave generator, and the excitation signal comprises a second excitation signal. The sine wave signal generated by the sine signal generator can be a sine curve with frequency and offset being assigned and adjusted online to be a zero mean value. In this embodiment, the excitation signal generator may include a second gain controller 224, and the sine wave signal is a second excitation signal obtained by the second gain controller 224.
As shown in fig. 3, the excitation includes white noise and a sine wave signal generated by a sine wave generator, and the excitation signal includes a first excitation signal and a second excitation signal, which implement a combination of different excitations. Further, the excitation signal generator includes a third combining unit 225, and the third combining unit 225 is configured to combine the first excitation signal and the second excitation signal and output the combined signals, that is, the third combining unit 225 adds the first excitation signal and the second excitation signal and outputs the added signals.
Referring again to fig. 3, the excitation may further include a rotation speed of the generator observed by a speed observer of the converter or vibration information of the generator detected by an external acceleration sensor, and the excitation signal further includes a third excitation signal. In this embodiment, the excitation signal generator may further include a band pass filter 226, a lead-lag filter 227, and a third gain controller 228, the rotational speed of the generator observed by the speed observer of the converter or the vibration information of the generator detected by the external acceleration sensor sequentially passes through the band pass filter 226, the lead-lag filter 227, and the third gain controller 228 to obtain a third excitation signal, and the third combining unit 225 is configured to combine and output the first excitation signal, the second excitation signal, and the third excitation signal, that is, the third combining unit 225 adds the first excitation signal, the second excitation signal, and the third excitation signal and outputs the result.
In some embodiments, the excitation signal is the output of the third combining unit 225.
In other embodiments, the output of the third combining unit 225 is further processed to obtain the excitation signal. For example, referring to fig. 3, the excitation signal generator may further include a saturator 229 for limiting the magnitude of the excitation signal output by the third combining unit 225 within a preset excitation signal range and outputting the same. For example, when the output of the third merging unit 225 is within the preset excitation signal range, the output of the third merging unit 225 is the excitation signal; when the output magnitude of the third combining unit 225 is not within the preset excitation signal range, the magnitude of the excitation signal is a value closest to the output magnitude of the third combining unit 225, among the maximum value and the minimum value of the preset excitation signal range. For example, when the output of the third combining unit 225 is larger than the maximum value, the saturator 229 is configured to set the output of the third combining unit 225 to the maximum value; the saturator 229 is configured to set the magnitude of the output of the third combining unit 225 to the minimum value when the magnitude of the output of the third combining unit 225 is less than the minimum value. It is understood that the saturator 229 may also adopt other strategies to limit the output magnitude of the third combining unit 225 within the preset excitation signal range.
The active identification unit 22 determines the resonance frequency, the corresponding phase and the gain according to the resonance state, and determines the resonance torque offset according to the resonance frequency, the corresponding phase and the gain. The active identification unit 22 may use an existing algorithm when determining the resonant torque offset according to the resonant frequency, the corresponding phase and the gain.
Active injection of resonant torque offset T by active identification unit 22 for embodiments of the present applicationASIThe resonant frequency, the corresponding phase and the gain of the wind generating set are identified through the resonant state of a transmission chain and a tower of the wind generating set, and direct test data are provided for active damping control. The resonant frequency range that the active identification unit 22 can identify is about 0.1Hz to 10Hz, covering most of the mechanical dynamic frequency range of the tower and the drive train.
In the embodiment of the present application, the main control circuit 10 may be implemented by a main controller of the wind turbine generator system, and the converter control circuit 20 may be implemented by a controller of the converter.
The embodiment of the application also provides a wind generating set which can comprise a generator, a converter and the wind generating set control system in the embodiment.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims (9)

1. A wind generating set control system is disclosed, wherein the wind generating set comprises a generator and a converter; characterized in that, wind generating set control system includes:
the main control loop (10) comprises a torque setting control unit (11), a resistance adding control unit (12) and a first combining unit (13), wherein the torque setting control unit (11) is used for determining a target torque of the generator according to the rotating speed of the generator, the resistance adding control unit (12) is used for determining a damping torque according to the rotating speed of the generator obtained by observation of a speed observer of the converter or vibration information of the generator obtained by detection of an external acceleration sensor, and the first combining unit (13) is used for combining the target torque and the damping torque to obtain a first given torque;
the converter control loop (20) comprises a torque control loop (21), an active identification unit (22) and a second combination unit (23), wherein the active identification unit (22) applies an excitation signal to the wind generating set, so that the wind generating set generates resonance, obtains a resonance state of the wind generating set, determines a resonance torque offset according to the resonance state, the second combination unit (23) is used for combining the first torque given value and the resonance torque offset to obtain a second torque given value, and the torque control loop (21) is used for controlling the generator according to the second torque given value.
2. Wind park control system according to claim 1, wherein the active identification unit (22) comprises an excitation signal generator for generating the excitation signal in dependence of at least one excitation comprising at least one of a white noise and a sine wave signal generated by a sine wave generator.
3. The wind park control system according to claim 2, wherein the excitation comprises white noise, the excitation signal comprising a first excitation signal;
the excitation signal generator comprises a low-pass filter (221), a high-pass filter (222) and a first gain controller (223), and the white noise is a first excitation signal obtained after passing through the low-pass filter (221), the high-pass filter (222) and the first gain controller (223) in sequence.
4. The wind turbine generator set control system of claim 2, wherein the excitation comprises a sine wave signal generated by a sine wave generator, the excitation signal comprising a second excitation signal;
the excitation signal generator comprises a second gain controller (224), and the sine wave signal is a second excitation signal obtained after passing through the second gain controller (224).
5. The wind turbine generator set control system of claim 2, wherein the excitation includes white noise and a sine wave signal generated by a sine wave generator, the excitation signal including a first excitation signal and a second excitation signal;
the excitation signal generator comprises a third merging unit (225), the third merging unit (225) is used for merging a first excitation signal and a second excitation signal and then outputting the merged first excitation signal and the merged second excitation signal, the first excitation signal is generated for the white noise, and the second excitation signal is generated for the sine wave signal.
6. The wind park control system according to claim 5, wherein the excitation further comprises a rotational speed of the generator observed by a speed observer of the converter or vibration information of the generator detected by an external acceleration sensor, the excitation signal further comprising a third excitation signal;
the excitation signal generator further comprises a band-pass filter (226), a lead-lag filter (227) and a third gain controller (228), wherein the rotation speed of the generator obtained by observing by a speed observer of the converter or vibration information of the generator obtained by detecting by an external acceleration sensor sequentially passes through the band-pass filter (226), the lead-lag filter (227) and the third gain controller (228) to obtain a third excitation signal, and the third combining unit (225) is used for combining and outputting the first excitation signal, the second excitation signal and the third excitation signal.
7. Wind park control system according to claim 5 or 6, wherein the excitation signal generator further comprises a saturator (229) for limiting the excitation signal magnitude output by the third combining unit (225) to a preset excitation signal range and outputting.
8. Wind park control system according to claim 1, wherein the active identification unit (22) determines a resonance frequency, a corresponding phase and a gain from the resonance state and determines a resonance torque offset from the resonance frequency, the corresponding phase and the gain.
9. A wind park comprising a generator, a converter and a wind park control system according to any of claims 1 to 8.
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