CN113803218A - Torque control method and device of wind generating set - Google Patents
Torque control method and device of wind generating set Download PDFInfo
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- CN113803218A CN113803218A CN202010541101.5A CN202010541101A CN113803218A CN 113803218 A CN113803218 A CN 113803218A CN 202010541101 A CN202010541101 A CN 202010541101A CN 113803218 A CN113803218 A CN 113803218A
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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
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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
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The disclosure provides a torque control method and device for a wind generating set. The torque control method may include: acquiring a tower top acceleration signal of the wind generating set; filtering the tower top acceleration signal by using a band-pass filter; determining an energy of the tower top acceleration signal based on the filtered tower top acceleration signal; and obtaining a torque control value of the wind generating set according to the energy, so that a torque controller of the wind generating set adjusts the torque of the generator according to the torque control value.
Description
Technical Field
The present disclosure relates to the field of wind power generation technologies, and more particularly, to a torque control method and apparatus for a wind turbine generator system.
Background
The torque control of a wind park plays a crucial role during its operation. The current torque control scheme is to operate the torque controller of the wind turbine generator set in a derated mode using a tower exclusion zone on the speed-torque curve. If the rotor speed region corresponds to a frequency range around the tower first order natural frequency (if the frequency range is below 1p frequency), the torque reference is always increased or decreased. The above method will always work with the torque controller even without excitation of the tower frequency.
In addition, since the wind turbine generator set is in a complex environment, the tower frequency has uncertainty, but the frequency range of the tower forbidden zone cannot be set according to the uncertainty of the tower frequency. In addition, the larger the frequency range of the tower exclusion zone, the greater the Annual Energy Production (AEP) loss.
Disclosure of Invention
Exemplary embodiments of the present disclosure provide a torque control method of a wind turbine generator set and an apparatus thereof, which solve at least the above technical problems and other technical problems not mentioned above, and provide the following advantageous effects.
An aspect of the present disclosure is to provide a torque control method for a wind turbine generator set, which may include: acquiring a tower top acceleration signal of the wind generating set; filtering the tower top acceleration signal by using a band-pass filter; determining an energy of the tower top acceleration signal based on the filtered tower top acceleration signal; and obtaining a torque control value of the wind generating set according to the energy, so that a torque controller of the wind generating set adjusts the torque of the generator according to the torque control value.
Optionally, the tower top acceleration signal may include a tower top lateral acceleration and a tower top forward acceleration.
Alternatively, the band pass filter may be a discrete time filter.
Alternatively, the band pass range of the band pass filter may be determined from the tower natural frequency.
Alternatively, the band pass range of the band pass filter may be from a tower first order natural frequency minus a predetermined frequency to the tower first order natural frequency plus the predetermined frequency.
Optionally, the step of performing filtering processing on the tower top acceleration signal by using a band-pass filter may include: acquiring the rotating speed of a generator of the wind generating set; and if the rotating speed of the generator is in a preset range, performing filtering processing on the tower top acceleration signal by using a band-pass filter.
Alternatively, the predetermined range may correspond to a band pass range of the band pass filter.
Optionally, the step of determining the energy of the tower top acceleration signal based on the filtered tower top acceleration signal may comprise: selecting a preset number of tower top acceleration sampling points from the filtered tower top acceleration signals; and calculating the energy of the tower top acceleration signal based on the predetermined number of tower top acceleration sampling points.
Optionally, the predetermined number corresponds to the number of sample points within one period of the first order natural frequency of the tower.
Optionally, the step of obtaining a torque control value of the wind park from the energy comprises: comparing the energy to an activation threshold; obtaining an activation level for adjusting the generator torque based on the comparison result; and determining the torque control value in dependence on the activation level.
Optionally, the step of determining the torque control value in dependence on the activation level may comprise: applying proportional control to the activation level to determine a torque reference component requiring compensation; and determining the torque control value based on the torque reference component and a torque reference value from a torque controller.
Alternatively, the step of determining the torque control reference value according to the activation level may comprise: applying proportional integral control to the activation level to determine a torque reference component requiring compensation; the torque control value is determined based on the torque reference component and a torque reference value from a torque controller.
Alternatively, the torque reference component may be limited to be no greater than the difference between torque reference values generated by the torque controller at generator speeds corresponding to the maximum and minimum frequencies of the bandpass range of the bandpass filter, respectively.
Another aspect of the present disclosure is to provide a torque control device for a wind turbine generator set, which may include: the filtering module is used for acquiring a tower top acceleration signal of the wind generating set and filtering the tower top acceleration signal by using a band-pass filter; and a calculation module for determining an energy of the tower top acceleration signal based on the filtered tower top acceleration signal; and obtaining a torque control value of the wind generating set according to the energy, so that a torque controller of the wind generating set adjusts the generator torque according to the torque control value.
Another aspect of the present disclosure is to provide a torque control apparatus for a wind turbine generator set, which may include: the band-pass filter is configured to filter the acquired tower top acceleration signal; an energy calculator configured to determine an energy of the tower top acceleration signal based on the filtered tower top acceleration signal; an activator configured to compare the energy to an activation threshold to determine an activation level for adjusting generator torque; and a controller configured to obtain a torque control value of the wind park according to the activation level, such that the torque controller of the wind park adjusts the generator torque according to the torque control value.
According to an exemplary embodiment of the present disclosure, a computer-readable storage medium is provided, in which a computer program is stored, which when executed by a processor implements the torque control method as described above.
According to another exemplary embodiment of the present disclosure, a computer is provided, comprising a readable medium storing a computer program and a processor, characterized in that the torque control method as described above is performed when the processor runs the computer program.
The apparatus and method described above changes the torque reference of the torque controller only in the presence of tower vibration (in both the forward and lateral directions), thus reducing energy consumption since the torque controller is only acted upon when tower vibration is excited during part load operation, rather than always acting upon the torque controller as in a conventional tower exclusion zone. Furthermore, the method and apparatus of the present disclosure can react to the actual tower frequency by automatic adjustment since it reacts only to the tower vibrations present.
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 flowchart illustrating a torque control method for a wind park according to an exemplary embodiment of the present disclosure;
FIG. 2 is a block diagram illustrating a torque control arrangement for a wind park according to an exemplary embodiment of the present disclosure;
fig. 3 is a block diagram illustrating a torque control apparatus for a wind park 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.
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 diagram illustrating a torque control method for a wind park according to an exemplary embodiment of the present disclosure. The torque control method of the present disclosure may be performed by a main controller or a torque controller of the wind turbine generator set or may be performed by a separate processor.
Referring to fig. 1, in step S101, a tower top acceleration signal of a wind turbine generator set may be acquired. The tower top acceleration of the present disclosure includes tower top lateral acceleration and tower top forward/backward acceleration. For example, tower top lateral acceleration signals and tower top forward acceleration signals may be obtained using acceleration sensors mounted at the top of the tower. However, the above acquisition example is merely exemplary. The present disclosure is not limited thereto.
In step S102, the acquired tower top acceleration signal may be subjected to a filtering process using a band-pass filter. In the operation process of the wind generating set, a wind wheel can generate a series of exciting forces, exciting loads can be continuously transmitted to the tower frame to cause the tower frame to vibrate, the frequency of the vibration is composed of the frequency of the series of exciting loads and the natural frequency of the tower frame, and in order to avoid resonance, the exciting frequencies must avoid the natural frequency of the tower frame. Thus, the band pass range for the band pass filter can be set based on the natural frequency of the tower. The present disclosure primarily considers the tower first order natural frequency, based on which the frequency range of the band pass filter is set.
As an example, the band pass range of the band pass filter may be set to subtract the predetermined frequency from the tower first order natural frequency to the tower first order natural frequency plus the predetermined frequency. For example, assume that the tower first order natural frequency is fT1Predetermined frequency of fbThe band pass range of the band pass filter may be [ f ]T1-fb,fT1+fb]. For a predetermined frequency fbAlso set in view of uncertainties due to the external environment in which the tower is located, therefore at design fbThe more these uncertainties processed in the process, the smaller the predetermined frequency value may be. However, the above examples are merely exemplary, and the present disclosure is not limited thereto.
Therefore, the band-pass frequency range of the band-pass filter is set according to the actual tower frequency, more accurate filtering data can be obtained, and subsequent torque adjustment is more accurate.
In the filtering process, the filtering process may be performed according to a generator rotation speed of the wind turbine generator system. Specifically, if the rotation speed of the generator is within a predetermined range, the tower top acceleration signal is subjected to filtering processing by using a band-pass filter. Here, for the predetermined range, the predetermined range may be set to coincide with a band pass range of the band pass filter. This is because if the generator speed is within the potential frequency range of the tower first order natural frequency, the generator speed (1p frequency) may excite the tower vibrations, which need to be prevented. If the generator speed is not within the potential frequency range, the filter output is set to 0.
As an example, the tower top acceleration signal may be subjected to filter processing using the following equation (1).
Wherein, FBP(fT1,fb,ACC[n]) Denotes a band-pass filter, ACC [ n ]]Representing the tower top acceleration signal, GENSpeed [ n ]]Representing generator speed signals, ACCBP [ n ]]Representing the filtered tower top acceleration signal.
According to embodiments of the present disclosure, the band pass filter may be a discrete time filter. That is, when the tower top acceleration signal is subjected to the filtering processing, not only the tower top acceleration signal within the band-pass range is filtered, but also the tower top acceleration signal is subjected to the discrete processing.
In step S103, the energy of the tower top acceleration signal is determined based on the filtered tower top acceleration signal. A predetermined number of tower top acceleration sampling points may be selected from the filtered tower top acceleration signal, and then the energy of the tower top acceleration signal may be calculated based on the predetermined number of tower top acceleration sampling points.
In the present disclosure, the number of sampling points within at least one period of the tower first order natural frequency may be taken as the predetermined number of selected tower top acceleration sampling points. Preferably, the number of sampling points within one period of the tower first order natural frequency may be taken as the predetermined number for selecting the tower top acceleration sampling points. The above examples are merely illustrative, and the present disclosure is not limited thereto.
As an example, the number of tower top acceleration sampling points selected may be obtained according to the following equation (2):
wherein, the sampling frequency of a main controller or a torque controller of the wind generating set is shown.
The energy ACCENERGY [ n ] of the tower top acceleration signal may be calculated using equation (3) below:
wherein the content of the first and second substances,
is [ ACCBP [ n ]]…ACCBP[n-N]]The transposed vector of (1). In equation (3), the last sampled N tower top accelerations are selected from the tower top acceleration signals as the basis for the energy calculation. However, the above examples are merely exemplary, and the present disclosure is not limited thereto. The energy of the tower top acceleration signal may be calculated using all or a portion of the samples in the acquired tower top acceleration signal.
In step S104, a torque control value of the wind turbine generator set may be obtained according to the determined energy, such that a torque controller of the wind turbine generator set adjusts the generator torque according to the obtained torque control value. Specifically, the determined energy value may be compared with an activation threshold, an activation level for the generator torque is obtained based on the comparison result, and the torque control value is determined according to the activation level.
When the energy value of the acquired tower top acceleration signal exceeds an activation threshold, it indicates that the torque adjustment operation needs to be activated to suppress tower vibration. The activation level may refer to an energy value for damping tower vibrations.
As an example, the activation level may be calculated using the following equation (4):
wherein, γactivationIndicating an activation threshold. The activation threshold may be obtained by design/simulation tuning.
By comparing the energy of the tower top acceleration signal with the preset activation threshold, the subsequent torque adjustment operation is activated only when the energy value of the tower top acceleration signal exceeds the activation threshold, so that the effect of reacting only to the tower vibration is realized, the response to small vibration is avoided, and the energy consumption is reduced.
When the activation level for adjusting the generator torque is obtained, proportional control or proportional integral control may be applied to the activation level to determine a torque reference component that requires compensation, and then a torque control value may be determined based on the torque reference component and a torque reference value from the torque controller. Here, the torque reference component may refer to a torque value that needs to be adjusted on the basis of a torque reference value of the torque controller.
As an example, the torque reference component mccref [ n ] that needs to be compensated may be determined using equation (5) below:
MAccRef[n]＝Kp·ACCACT[n] (5)
wherein, KpThe proportional gain is indicated. The appropriate proportional gain value may be obtained by adjusting the simulation or test method of the wind turbine generator set with the control function activated as described above.
In the present disclosure, the torque reference component should be no greater than the difference between the torque reference values generated by the torque controller at generator speeds corresponding to the maximum and minimum frequencies of the bandpass range of the bandpass filter, respectively. This limitation is made to ensure that the torque reference is adjusted within an optimal torque trajectory for a predetermined frequency range including the tower natural frequency. For example, MAccRef [ n ]]≤Mopt(fT1-fb)-Mopt(fT1+fb)。
Furthermore, if the wind park derating results in a new torque curve, the optimal torque trajectory should be adjusted accordingly.
Alternatively, proportional integral control may be applied to the activation level to determine a torque reference component that requires compensation, and then a torque control value may be determined based on the torque reference component and a torque reference value from the torque controller.
As an example, the torque reference component mccref [ n ] that needs to be compensated may be determined using equation (6) below:
MAccRef[n]＝Kp·ACCACT[n]+Ki·Ts·ACCACT[n]+MAccRef[n-1] (6)
wherein, KiRepresenting the integral gain, TsRepresenting the integration time.
The integral term in equation (6) is used to maintain the response in terms of additional reference torque, and the acceleration of the integral part can be attenuated using the integral term.
Further, in the present disclosure, in addition to using the tower top acceleration signal to obtain the corresponding torque control value, the tower speed may also be used to obtain the corresponding torque control value.
Fig. 2 is a block diagram illustrating a torque control apparatus for a wind turbine generator set according to an exemplary embodiment of the present disclosure. The torque control device 200 may be implemented by the main control controller of the wind park or may form a single entity separately from the main control controller and be installed in the wind park.
Referring to FIG. 2, the torque control device 200 may include a filtering module 201 and a calculation module 202. Each module in the torque control device 200 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 torque control device 200 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 filtering module 201 may obtain a tower top acceleration signal of the wind turbine generator system, and perform filtering processing on the tower top acceleration signal.
The acquired tower top acceleration signal may include a tower top lateral acceleration and a tower top forward acceleration. That is, the torque control method of the present disclosure takes into account not only forward tower top acceleration, but also lateral tower top acceleration.
The filtering module 201 may be composed of a band pass filter and a discrete time filter. The present disclosure is not limited to the filtering module being implemented by only one filter, but may be implemented by a variety of different types of filters.
The filtering module 201 may set the frequency range through which the tower top acceleration signal passes according to the tower natural frequency.
As an example, the band pass frequency range of the filtering module 201 may be set to subtract the predetermined frequency from the tower first order natural frequency to the tower first order natural frequency plus the predetermined frequency. For example, the bandpass range may be [ f ]T1-fb,fT1+fb]. However, the above examples are merely exemplary, and the present disclosure is not limited thereto.
The filtering module 201 may perform filtering processing on the tower top acceleration signal according to the obtained generator rotation speed of the wind generating set. Specifically, if the generator speed is within a predetermined range, the filtering module 201 may perform filtering processing on the tower top acceleration signal. Here, for the predetermined range, the predetermined range may be set to coincide with a band pass range of the filtering module 201. For example, the filtering module 201 may perform the filtering process using equation (1).
The calculation module 202 may determine an energy of the tower top acceleration signal based on the filtered tower top acceleration signal and obtain a torque control value of the wind turbine generator set from the energy, such that a torque controller of the wind turbine generator set adjusts the generator torque according to the torque control value.
As an example, the calculation module 202 may select a predetermined number of tower top acceleration sampling points from the filtered tower top acceleration signal and calculate the energy of the tower top acceleration signal based on the predetermined number of tower top acceleration sampling points. Preferably, the calculation module 202 may use the number of sampling points within one period of the tower first order natural frequency as the predetermined number for selecting the tower top acceleration sampling points. For example, the calculation module 202 may calculate the energy value of the tower top acceleration signal using equation (3).
Next, the calculation module 202 may compare the calculated energy with an activation threshold, obtain an activation level for adjusting the generator torque based on the comparison result, and then determine a final torque control value according to the activation level. For example, when the energy value of the acquired tower top acceleration signal exceeds an activation threshold, indicating that an adjustment operation on the torque needs to be activated to suppress tower vibration, the calculation module 202 may calculate the activation level using equation (4).
The calculation module 202 may apply proportional control to the activation level to determine the torque reference component that needs compensation. Here, the torque reference component may refer to a torque value that needs to be adjusted on the basis of a torque reference value of the torque controller. For example, the calculation module 202 may calculate the torque reference component using equation (5).
Alternatively, the calculation module 202 may apply proportional integral control to the activation level to determine a torque reference component that requires compensation and determine a final torque control value based on the torque reference component and a torque reference value from the torque controller. For example, the calculation module 202 may calculate the torque reference component using equation (6).
After calculating the torque reference component, the calculation module 202 needs to determine whether the calculated torque reference component is not greater than a difference between torque reference values generated by the torque controller at generator speeds corresponding to the maximum frequency and the minimum frequency of the band-pass range of the filtering module 201, respectively. This is because it is ensured that the value compensated for torque is within the optimum torque trajectory.
The calculation module 202 may determine a final torque control value based on the torque reference component and the torque reference value from the torque controller.
Fig. 3 is a block diagram illustrating a torque control apparatus for a wind park according to an exemplary embodiment of the present disclosure. The torque control device 300 may be installed in a hub of a wind turbine generator as a stand-alone device or perform a torque control operation as a part of a main control controller of the wind turbine generator, however, the above examples are merely exemplary, and the present disclosure is not limited thereto.
Referring to fig. 3, the torque control apparatus 300 may include a band pass filter 301, an energy calculator 302, an activator 303, and a controller 304.
The band-pass filter 301 may obtain a tower top acceleration signal of the wind turbine generator system, and perform filtering processing on the tower top acceleration signal. The acquired tower top acceleration signal may include a tower top lateral acceleration and a tower top forward acceleration. That is, the torque control method of the present disclosure takes into account not only forward tower top acceleration, but also lateral tower top acceleration.
The band pass filter 301 may also comprise a discrete time filter. The present disclosure is not limited to the band pass filter 301 being implemented by only one filter, but may be implemented by a variety of different types of filters.
The band pass filter 301 may set the frequency range through which the tower top acceleration signal passes based on the tower natural frequency.
As an example, the band pass frequency range of the band pass filter 301 may be set to subtract the predetermined frequency from the tower first order natural frequency to the tower first order natural frequency plus the predetermined frequency. For example, the bandpass range may be [ f ]T1-fb,fT1+fb]. However, the above examples are merely exemplary, and the present disclosure is not limited thereto.
The band-pass filter 301 may perform filtering processing on the tower top acceleration signal according to the obtained generator rotation speed of the wind turbine generator system. Specifically, if the generator rotational speed is within a predetermined range, the band-pass filter 301 may perform filtering processing on the tower top acceleration signal. Here, for the predetermined range, the predetermined range may be set to coincide with the band pass range of the band pass filter 301. For example, the band pass filter 301 may perform a filtering process using equation (1).
The energy calculator 302 may determine the energy of the tower top acceleration signal based on the filtered tower top acceleration signal. As an example, the energy calculator 302 may select a predetermined number of tower top acceleration sampling points from the filtered tower top acceleration signal, and calculate the energy of the tower top acceleration signal based on the predetermined number of tower top acceleration sampling points. Preferably, the energy calculator 302 may use the number of sampling points within one period of the tower first order natural frequency as the predetermined number for selecting the tower top acceleration sampling points. For example, the energy calculator 302 may calculate the energy value of the tower top acceleration signal using equation (3).
The activator 303 may compare the calculated energy with an activation threshold, obtain an activation level for adjusting the generator torque based on the comparison result, and then determine a final torque control value according to the activation level. For example, when the energy value of the acquired tower top acceleration signal exceeds an activation threshold, indicating that an adjustment operation on the torque needs to be activated to suppress tower vibration, the activator 303 may calculate the activation level using equation (4).
The controller 304 may apply proportional control to the activation level to determine the torque reference component that needs to be compensated. Here, the torque reference component may refer to a torque value that needs to be adjusted on the basis of a torque reference value of the torque controller. For example, the controller 304 may calculate the torque reference component using equation (5).
Alternatively, the controller 304 may apply proportional integral control to the activation level to determine a torque reference component that requires compensation and determine a final torque control value based on the torque reference component and a torque reference value from the torque controller. For example, the controller 304 may calculate the torque reference component using equation (6).
After calculating the torque reference component, the controller 304 may determine whether the calculated torque reference component is not greater than a difference between torque reference values generated by the torque controller at generator speeds corresponding to a maximum frequency and a minimum frequency of the band pass range of the band pass filter 301, respectively. This is because it is ensured that the value compensated for torque is within the optimum torque trajectory.
The controller 304 may determine a final torque control value based on the torque reference component and the torque reference value from the torque controller. The controller 304 may send the final torque control value to a torque controller of the wind park such that the torque controller may adjust the generator torque according to the adjusted torque control value.
By the method and the device, the torque control can be accurately executed, and the energy consumption is effectively reduced.
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).
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 (17)
1. A torque control method for a wind turbine generator set, the torque control method comprising:
acquiring a tower top acceleration signal of the wind generating set;
filtering the tower top acceleration signal by using a band-pass filter;
determining an energy of the tower top acceleration signal based on the filtered tower top acceleration signal; and
and obtaining a torque control value of the wind generating set according to the energy, so that a torque controller of the wind generating set adjusts the generator torque according to the torque control value.
2. The torque control method of claim 1 wherein the tower top acceleration signal comprises a tower top lateral acceleration and a tower top forward acceleration.
3. The torque control method of claim 1, wherein the band pass filter is a discrete time filter.
4. The torque control method of claim 1, wherein the band pass range of the band pass filter is determined from a tower natural frequency.
5. The torque control method of claim 1, wherein the band pass filter has a band pass range from a tower first order natural frequency minus a predetermined frequency to the tower first order natural frequency plus the predetermined frequency.
6. The torque control method of claim 1, wherein the step of filtering the tower top acceleration signal using a band pass filter comprises:
acquiring the rotating speed of a generator of the wind generating set;
and if the rotating speed of the generator is in a preset range, performing filtering processing on the tower top acceleration signal by using a band-pass filter.
7. The torque control method of claim 6, wherein the predetermined range corresponds to a bandpass range of the bandpass filter.
8. The torque control method of claim 1, wherein determining the energy of the tower top acceleration signal based on the filtered tower top acceleration signal comprises:
selecting a preset number of tower top acceleration sampling points from the filtered tower top acceleration signals;
calculating the energy of the tower top acceleration signal based on the predetermined number of tower top acceleration sampling points.
9. The torque control method of claim 8 wherein the predetermined number corresponds to the number of sample points within one period of the tower first order natural frequency.
10. The torque control method of claim 1, wherein obtaining a torque control value for a wind turbine generator set from the energy comprises:
comparing the energy to an activation threshold;
obtaining an activation level for adjusting the generator torque based on the comparison result;
determining the torque control value as a function of the activation level.
11. The torque control method of claim 10, wherein determining the torque control value as a function of an activation level comprises:
applying proportional control to the activation level to determine a torque reference component requiring compensation;
the torque control value is determined based on the torque reference component and a torque reference value from a torque controller.
12. The torque control method according to claim 10, wherein the step of determining the torque control reference value according to an activation level includes:
applying proportional integral control to the activation level to determine a torque reference component requiring compensation;
the torque control value is determined based on the torque reference component and a torque reference value from a torque controller.
13. A torque control method as claimed in claim 11 or 12, wherein the torque reference component is limited to be no greater than the difference between torque reference values produced by a torque controller at generator speeds corresponding to the maximum and minimum frequencies of the bandpass range of the bandpass filter respectively.
14. A torque control device for a wind turbine generator set, the torque control device comprising:
the filtering module is used for acquiring a tower top acceleration signal of the wind generating set and filtering the tower top acceleration signal by using a band-pass filter; and
a calculation module to determine an energy of the tower top acceleration signal based on the filtered tower top acceleration signal; and obtaining a torque control value of the wind generating set according to the energy, so that a torque controller of the wind generating set adjusts the generator torque according to the torque control value.
15. A torque control apparatus for a wind turbine generator set, the torque control apparatus comprising:
the band-pass filter is configured to filter the acquired tower top acceleration signal;
an energy calculator configured to determine an energy of the tower top acceleration signal based on the filtered tower top acceleration signal;
an activator configured to compare the energy to an activation threshold to determine an activation level for adjusting generator torque; and
a controller configured to obtain a torque control value of the wind park according to the activation level, such that the torque controller of the wind park adjusts the generator torque according to the torque control value.
16. 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 torque control method for a wind park of any one of claims 1 to 13 when the program is run.
17. A computer-readable recording medium in which a program is stored, characterized in that the program comprises instructions for executing the torque control method for a wind turbine generator set according to any one of claims 1 to 13.
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| EP2620639A1 (en) * | 2012-01-30 | 2013-07-31 | Alstom Wind, S.L.U. | A method for dampening oscillations in a wind turbine |
| CN205592074U (en) * | 2016-05-05 | 2016-09-21 | 上海中认尚科新能源技术有限公司 | Long -range automatic measuring device of wind generating set mechanical load |
| WO2018077530A1 (en) * | 2016-10-28 | 2018-05-03 | Siemens Aktiengesellschaft | Damping wind turbine tower oscillations |
| US20190154001A1 (en) * | 2016-04-08 | 2019-05-23 | Vestas Wind Systems A/S | Method and system for controlling a wind turbine to manage edgewise blade vibrations |
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|---|---|---|---|---|
| EP2620639A1 (en) * | 2012-01-30 | 2013-07-31 | Alstom Wind, S.L.U. | A method for dampening oscillations in a wind turbine |
| US20190154001A1 (en) * | 2016-04-08 | 2019-05-23 | Vestas Wind Systems A/S | Method and system for controlling a wind turbine to manage edgewise blade vibrations |
| CN205592074U (en) * | 2016-05-05 | 2016-09-21 | 上海中认尚科新能源技术有限公司 | Long -range automatic measuring device of wind generating set mechanical load |
| WO2018077530A1 (en) * | 2016-10-28 | 2018-05-03 | Siemens Aktiengesellschaft | Damping wind turbine tower oscillations |
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