CN113915059A - Vibration control method and system for tower of wind generating set - Google Patents
Vibration control method and system for tower of wind generating set Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0296—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
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- 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
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for 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
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/047—Automatic control; Regulation by means of an electrical or electronic controller characterised by the controller architecture, e.g. multiple processors or data communications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/96—Preventing, counteracting or reducing vibration or noise
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/328—Blade pitch angle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/334—Vibration measurements
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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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- 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
- Y02E10/728—Onshore wind turbines
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Abstract
The invention discloses a vibration control method and a system for a tower of a wind generating set, the method takes measured fore-and-aft displacement of an engine room as input, carries out filtering processing through a second-order band-pass filter, then obtains a tower vibration compensation pitch angle through calculation of a tower vibration controller, then judges whether the tower vibration compensation pitch angle needs to be input into a variable pitch controller of the wind generating set according to conditions, and finally sends a variable pitch instruction to adjust the pitch angle of a blade by the variable pitch controller, thereby changing thrust borne by the tower, realizing the reduction of the tower vibration, further reducing the fatigue load of the tower, further reducing the weight of the tower, improving the safety of the set and reducing the electricity consumption cost.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a method and a system for controlling vibration of a tower of a wind generating set.
Background
With the wind power industry entering the flat era, wind generating sets gradually develop towards large megawatt, long blades and high towers, not only for technical innovation but also for reducing the electricity consumption cost. Under the background, tower weight reduction is an important target of current wind power technology research, the weight of the tower is increased along with the increase of the height of the tower, and the tower fatigue load caused by vibration is increased, so that the tower design weight reduction faces a serious challenge in the early stage of design.
In order to adapt to the revolution of the industry, the industry competitiveness is improved through technical innovation, the problem of tower vibration is solved, the tower fatigue load is reduced through reducing the tower vibration amplitude, the weight of the tower is reduced, and the lower kilowatt-hour cost is obtained.
The tower vibration control method is to reduce the amplitude of the front and back vibration of the tower by increasing the front and back vibration mode damping of the tower. The tower vibration control method is also called tower resistance adding control. The general tower vibration control method is to calculate the corresponding tower resistance compensation amount through the front and back acceleration of the engine room, and then determine the pitch angle rate or the pitch angle value of the output tower resistance compensation. The method for controlling the tower vibration has the defect of insufficient phase precision, and the calculated compensation pitch rate or pitch angle has deviation from the actual vibration phase. In addition, an additional damping device is added in the tower, and tower vibration is reduced by adjusting the damping of the tower according to the damping device.
In addition, in most of the existing tower vibration control methods, the forward and backward acceleration of the nacelle is used as the tower vibration control input, and the amplitude and the phase are processed and calculated through a series of filters to obtain the compensated pitch rate or pitch angle. The method has the disadvantages that the matching precision of the compensated pitch rate obtained by calculating the fore-and-aft acceleration of the engine room and the actual vibration phase of the tower is not enough, and the risk of increasing the vibration of the tower exists if the phase difference is large.
In addition, in the existing tower vibration control technology, the real-time tower frequency monitoring is mainly carried out aiming at the natural frequency of the tower, and if the difference between the monitored tower frequency and the designed tower natural frequency exceeds a design threshold, the unit enters a shutdown mode. The control method has the defects that the problem of tower vibration cannot be fundamentally solved only by frequency monitoring and feedback control intervention, and the power generation amount of a unit is lost by shutdown so as to reduce the benefit.
The existing tower vibration control method also utilizes a cabin vibration signal and the rotating speed of a generator to carry out frequency spectrum analysis, and carries out vibration control according to the frequency spectrum energy concentration region through comparison analysis on the vibration reason. The method has the disadvantages that a large amount of monitoring data is needed for carrying out spectrum analysis, the calculation real-time performance is poor, and the accuracy of the spectrum analysis is reduced if the calculated data amount is small.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an efficient and reliable control method for tower vibration of a wind generating set, which can effectively change thrust borne by a tower and reduce fatigue load of the tower by reducing the tower vibration, thereby reducing the weight of the tower, improving the safety of the set and reducing the electricity consumption cost.
The invention further provides a tower vibration control system of the wind generating set.
The first purpose of the invention is realized by the following technical scheme: the method is characterized in that measured fore-and-aft displacement of an engine room is used as input, filtering processing is carried out through a second-order band-pass filter, then a tower vibration compensation pitch angle is obtained through calculation of a tower vibration controller, whether the tower vibration compensation pitch angle needs to be input into a variable pitch controller of the wind generating set is judged according to conditions, and finally a variable pitch command is sent by the variable pitch controller to adjust the blade pitch angle, so that thrust borne by a tower is changed, tower vibration is reduced, and the aim of reducing fatigue load of the tower is fulfilled.
Further, the vibration control method for the tower of the wind generating set comprises the following steps:
1) measuring the front and back displacement of the engine room;
a relative displacement sensor is arranged on a base of an engine room of the wind generating set, the relative displacement sensor outputs resistance or voltage by converting mechanical displacement into linear or any function relation, and the change condition of the front and back displacement of the engine room is measured through the change of the resistance or the voltage, so that the change condition becomes the input of a tower vibration controller;
2) filtering the measured front and rear displacements of the engine room;
filtering the front and rear displacements of the engine room measured in the step 1) through a second-order band-pass filter;
3) calculating the vibration compensation pitch angle of the tower;
taking the front and rear displacements of the engine room processed by the second-order band-pass filter in the step 2) as the input of a tower vibration controller, and calculating to obtain a tower vibration compensation pitch angle in the tower vibration controller according to the multiplication of the front and rear displacements of the engine room by a compensation gain; wherein, the compensation gain is a conversion coefficient set in the tower vibration controller for converting the front-back displacement of the engine room into the compensation pitch angle;
4) judging whether the tower vibration compensation pitch angle needs to be input into a variable pitch controller for vibration control according to conditions;
the conditions need to be satisfied: when the generator torque of the wind generating set is kept to be more than 0.95 times of the rated torque, the tower vibration compensation pitch angle calculated in the step 3) is input into a pitch controller, and the pitch controller adds the pitch angle value of the set in the normal operation state to the tower vibration compensation pitch angle to serve as a final pitch angle set value and then outputs the final pitch angle set value to a pitch actuator of the wind generating set, and the blade pitch angle is adjusted to achieve the purpose of reducing the tower vibration; if the condition is not met, the variable pitch controller directly outputs the variable pitch angle value of the unit in the normal operation state to the variable pitch actuating mechanism to be executed.
Further, in step 1), a predetermined position P in the cabin is adopted1Absolute displacement relative to tower axis X1At a predetermined position P in the cabin2Absolute displacement relative to tower axis X2The front-rear displacement of the nacelle is Δ X ═ X1-X2(ii) a When X is present1≥X2When the value is more than or equal to 0, the delta X is more than or equal to 0; when X is present1＜X2When, Δ X is less than 0; wherein, it is scheduledPosition P1、P2And calibrating according to the actual field condition.
Further, in the step 2), the fore-and-aft displacement delta X of the engine room measured in the step 1) is filtered through a second-order band-pass filter to obtain the filtered fore-and-aft displacement X of the engine roomf(ii) a Wherein, the transfer function G(s) of the second-order band-pass filter is as follows:
where s is the complex variable of the Laplace transform, K is the filter gain, ω0Is the filter center frequency, and epsilon is the filter damping coefficient; center frequency ω of the filter0Adopting tower frequency, wherein the tower frequency is tower first-order front and back modal frequency, and the tower first-order front and back modal frequency can be determined by performing power spectrum analysis on some variables of the wind generating set, wherein the variables comprise generator rotating speed and engine room front and back acceleration; the damping coefficient epsilon of the filter is determined according to the required bandwidth, the second-order band-pass filter cannot completely attenuate all frequencies outside the expected frequency range, the expected frequency is the center frequency of the filter, namely the tower frequency, the impeller frequency conversion exists outside the pass band of the filter, the frequencies outside the pass band are attenuated but not isolated, and therefore partial impeller frequency conversion energy possibly exists in the pass band and cannot be removed; and the product of the gain K of the filter and the compensation gain of the tower vibration controller is used as the gain of the tower vibration controller.
Further, in step 3), the compensation gain of the tower oscillation controller is set to KpAnd K ispGreater than 0, and the tower vibration compensation pitch angle is set to Pt，Pt＝Kp*Xf，XfThe filtered fore-and-aft displacement of the cabin.
Further, in step 4), the tower vibration compensation pitch angle calculated in step 3) is PtCompensating the tower vibration for the pitch angle P when the conditions are mettInputting the data to a variable pitch controller, and calculating the calculated pitch angle by the variable pitch controllerSet value Pdem＝Pn+PtAnd the data are output to a variable pitch actuating mechanism, and the variable pitch actuating mechanism adjusts the pitch angle of the blade to reach a set value P of the pitch angledemWherein P isnWhen no tower vibration control exists, the variable pitch angle value of the unit is in a normal operation state; when the condition is not met, outputting a pitch angle set value P to a pitch changing actuating mechanismdem＝Pn。
The second purpose of the invention is realized by the following technical scheme: a wind generating set tower vibration control system comprising:
the system comprises a front and rear cabin displacement measuring module, a tower vibration controller and a wind generating set, wherein a relative displacement sensor is arranged on a cabin base of the wind generating set, mechanical displacement is converted into resistance or voltage output in a linear or any functional relation through the relative displacement sensor, and therefore the front and rear cabin displacement change condition is measured through the change of the resistance or the voltage and becomes the input of the tower vibration controller;
the cabin front and rear displacement filtering module is used for filtering the cabin front and rear displacement measured by the cabin front and rear displacement measuring module by adopting a second-order band-pass filter;
the tower vibration compensation pitch angle calculation module takes the front and rear cabin displacement processed by the front and rear cabin displacement filtering module as the input of a tower vibration controller, and the tower vibration compensation pitch angle is calculated in the tower vibration controller according to the multiplication of the front and rear cabin displacement and the compensation gain; wherein, the compensation gain is a conversion coefficient set in the tower vibration controller for converting the front-back displacement of the engine room into the compensation pitch angle;
the tower vibration compensation pitch angle output judgment module is used for judging whether the tower vibration compensation pitch angle needs to be input into a pitch controller of the wind generating set; wherein, the conditions need to be satisfied: when the generator torque of the wind generating set is kept to be more than 0.95 times of the rated torque, the tower vibration compensation pitch angle calculated by the tower vibration compensation pitch angle calculation module is input into the pitch controller, and at the moment, the pitch controller adds the pitch angle value of the set in the normal running state and the tower vibration compensation pitch angle to be used as a final pitch angle set value and then outputs the final pitch angle set value to a pitch angle execution mechanism of the wind generating set, and the blade pitch angle is adjusted to achieve the purpose of reducing tower vibration; if the condition is not met, the variable pitch controller directly outputs the variable pitch angle value of the unit in the normal operation state to the variable pitch actuating mechanism to be executed, namely, the tower vibration compensation pitch angle is not needed to be superposed.
Further, in the fore-and-aft displacement measuring module of the engine room, a preset position P in the engine room is adopted1Absolute displacement relative to tower axis X1At a predetermined position P in the cabin2Absolute displacement relative to tower axis X2The front-rear displacement of the nacelle is Δ X ═ X1-X2(ii) a When X is present1≥X2When the value is more than or equal to 0, the delta X is more than or equal to 0; when X is present1＜X2When, Δ X is less than 0; wherein the predetermined position P1、P2And calibrating according to the actual field condition.
Further, in the cabin front and rear displacement filtering module, the cabin front and rear displacement delta X measured by the cabin front and rear displacement measuring module is filtered by a second-order band-pass filter to obtain the filtered cabin front and rear displacement Xf(ii) a Wherein, the transfer function G(s) of the second-order band-pass filter is as follows:
where s is the complex variable of the Laplace transform, K is the filter gain, ω0Is the filter center frequency, and epsilon is the filter damping coefficient; center frequency ω of the filter0Adopting tower frequency, wherein the tower frequency is tower first-order front and back modal frequency, and the tower first-order front and back modal frequency can be determined by performing power spectrum analysis on some variables of the wind generating set, wherein the variables comprise generator rotating speed and engine room front and back acceleration; the damping coefficient epsilon of the filter is determined according to the required bandwidth, the second-order band-pass filter cannot completely attenuate all frequencies outside the expected frequency range, the expected frequency is the center frequency of the filter, namely the tower frequency, and the filter is used for filteringImpeller frequency conversion is carried out outside the passband of the wave filter, and the frequency outside the passband is only attenuated but not isolated, so that partial impeller frequency conversion energy possibly exists in the passband and cannot be removed; and the product of the gain K of the filter and the compensation gain of the tower vibration controller is used as the gain of the tower vibration controller.
Further, in the tower vibration compensation pitch angle calculation module, a compensation gain of a tower vibration controller is set to KpAnd K ispGreater than 0, and the tower vibration compensation pitch angle is set to Pt，Pt＝Kp*Xf，XfThe filtered front and back displacement of the engine room is obtained;
in the tower vibration compensation pitch angle output judgment module, when the condition is met, the tower vibration compensation pitch angle P is used for judging whether the tower vibration compensation pitch angle P meets the conditiontInputting the data into a variable pitch controller, and calculating a set value P of the pitch angle by the variable pitch controllerdem＝Pn+PtAnd the data are output to a variable pitch actuating mechanism, and the variable pitch actuating mechanism adjusts the pitch angle of the blade to reach a set value P of the pitch angledemWherein P isnWhen no tower vibration control exists, the variable pitch angle value of the unit is in a normal operation state; when the condition is not met, outputting a pitch angle set value P to a pitch changing actuating mechanismdem＝Pn。
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention improves the control strategy on the existing tower vibration control method without adding extra equipment, thereby avoiding the need of adding extra equipment cost and later maintenance of the equipment.
2. According to the invention, the front and back displacement of the engine room is used as the input of the tower vibration controller, and the compensation pitch angle calculated according to the front and back displacement of the engine room can make up the problem of the phase precision of the front and back acceleration of the engine room and the compensation pitch rate or pitch angle, and can be more directly matched with the thrust borne by the tower.
3. The invention inputs the calculated tower vibration compensation pitch angle to the variable pitch controller, and controls the tower vibration through the variable pitch, thereby preventing the tower from being shut down due to overlarge vibration, and avoiding the loss of generated energy.
4. According to the invention, a large amount of data processing is not needed, only second-order band-pass filtering processing is needed to be carried out on the front and rear displacements of the engine room, the sampling period is 0.01s, the response speed of the tower vibration controller is effectively improved, and the real-time performance of the tower vibration control is ensured.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a timing diagram of tower load closing and opening tower oscillation control.
FIG. 3 is a timing diagram of the nacelle fore and aft displacement for closing and opening tower oscillation control.
Fig. 4 is an architecture diagram of the system of the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples.
The embodiment provides a vibration control method for a tower of a wind generating set (for short, a fan), which is shown in fig. 1, and the method is characterized in that measured front and back displacements of a cabin are used as input, filtering processing is carried out through a second-order band-pass filter, then a tower vibration compensation pitch angle is obtained through calculation of a tower vibration controller, then whether the tower vibration compensation pitch angle needs to be input into a variable pitch controller of the wind generating set is judged according to conditions, and finally a variable pitch command is sent by the variable pitch controller to adjust the pitch angle of a blade, so that thrust borne by the tower is changed, tower vibration is reduced, the aim of reducing fatigue load of the tower is fulfilled, and a tower load time sequence for controlling the tower vibration is closed and opened as shown in fig. 2; which comprises the following steps:
1) measuring the front and back displacement of the engine room;
a relative displacement sensor is arranged on a cabin base of a wind generating set, the relative displacement sensor is used for converting mechanical displacement into resistance or voltage output with linear or any function relation, and measuring the front and back displacement change condition of a cabin through the change of the resistance or the voltage to enable the front and back displacement change condition to become the input of a tower vibration controller, and the specific steps are as follows:
by a predetermined position P in the cabin1Relative to the tower shaftAbsolute displacement of core line X1At a predetermined position P in the cabin2Absolute displacement relative to tower axis X2The front-rear displacement of the nacelle is Δ X ═ X1-X2(ii) a When X is present1≥X2When the value is more than or equal to 0, the delta X is more than or equal to 0; when X is present1＜X2When, Δ X is less than 0; wherein the predetermined position P1、P2Please refer to fig. 3 for the time sequence of the forward and backward displacements of the nacelle for calibration, closing and opening of the tower vibration control according to the actual field situation.
2) Filtering the measured front and rear displacements of the engine room;
filtering the fore-and-aft displacement delta X of the engine room measured in the step 1) through a second-order band-pass filter to obtain the filtered fore-and-aft displacement X of the engine roomf(ii) a Wherein, the transfer function G(s) of the second-order band-pass filter is as follows:
where s is the complex variable of the Laplace transform, K is the filter gain, ω0Is the filter center frequency, and epsilon is the filter damping coefficient; center frequency ω of the filter0Adopting tower frequency, wherein the tower frequency is tower first-order front and back modal frequency, and the tower first-order front and back modal frequency can be determined by performing power spectrum analysis on variables such as generator rotating speed, cabin front and back acceleration and the like; the damping coefficient epsilon of the filter is determined according to the required bandwidth, the second-order band-pass filter cannot completely attenuate all frequencies outside the expected frequency range, the expected frequency is the center frequency of the filter, namely the tower frequency, the impeller rotating frequency is arranged outside the pass band of the filter, the impeller rotating frequency is 1-time frequency and 3-time frequency of the rotating speed of the impeller, the frequency outside the pass band is only attenuated but not isolated, and therefore, partial energy of the impeller rotating frequency can exist in the pass band and cannot be eliminated; the product of the filter gain K and the compensation gain of the tower vibration controller is used as the gain of the tower vibration controller, and the compensation gain is set in the tower vibration controller for converting the front and back displacement of the engine room into the compensation pitch angleA fixed conversion coefficient; the filter gain K can temporarily take 1 and thus is mainly adjusted by the value of the compensation gain of the tower vibrator.
3) Calculating the vibration compensation pitch angle of the tower;
taking the front and rear displacements of the engine room processed by the second-order band-pass filter in the step 2) as the input of a tower vibration controller, and calculating to obtain a tower vibration compensation pitch angle in the tower vibration controller according to the multiplication of the front and rear displacements of the engine room by a compensation gain; wherein the compensation gain of the tower vibration controller is set to KpAnd K ispGreater than 0, and the tower vibration compensation pitch angle is set to Pt，Pt＝Kp*Xf，XfThe filtered fore-and-aft displacement of the cabin.
4) Judging whether the tower vibration compensation pitch angle needs to be input into a variable pitch controller for vibration control according to conditions;
the conditions need to be satisfied: when the generator torque of the wind generating set is kept above 0.95 times of the rated torque, the tower vibration compensation pitch angle P is realizedtInputting the data into a variable pitch controller, and calculating a set value P of the pitch angle by the variable pitch controllerdem＝Pn+PtAnd the output is transmitted to a variable pitch actuating mechanism of the wind generating set, and the variable pitch actuating mechanism adjusts the pitch angle of the blade to reach a pitch angle set value PdemWherein P isnWhen no tower vibration control exists, the variable pitch angle value of the unit is in a normal operation state; when the condition is not met, the variable pitch controller directly outputs a set value P of the pitch angle of the variable pitch actuating mechanismdem＝Pn。
Example 2
The embodiment provides a vibration control system for a tower of a wind generating set, which is shown in fig. 4 and comprises the following functional modules:
the system comprises a front and rear cabin displacement measuring module, a tower vibration controller and a wind generating set, wherein a relative displacement sensor is arranged on a cabin base of the wind generating set, mechanical displacement is converted into resistance or voltage output in a linear or any functional relation through the relative displacement sensor, and therefore the front and rear cabin displacement change condition is measured through the change of the resistance or the voltage and becomes the input of the tower vibration controller;
the cabin front and rear displacement filtering module is used for filtering the cabin front and rear displacement measured by the cabin front and rear displacement measuring module by adopting a second-order band-pass filter;
the tower vibration compensation pitch angle calculation module takes the front and rear cabin displacement processed by the front and rear cabin displacement filtering module as the input of a tower vibration controller, and the tower vibration compensation pitch angle is calculated in the tower vibration controller according to the multiplication of the front and rear cabin displacement and the compensation gain; wherein, the compensation gain is a conversion coefficient set in the tower vibration controller for converting the front-back displacement of the engine room into the compensation pitch angle;
the tower vibration compensation pitch angle output judgment module is used for judging whether the tower vibration compensation pitch angle needs to be input into a pitch controller of the wind generating set; wherein, the conditions need to be satisfied: when the generator torque of the wind generating set is kept to be more than 0.95 times of the rated torque, the tower vibration compensation pitch angle calculated by the tower vibration compensation pitch angle calculation module is input into the pitch controller, and at the moment, the pitch controller adds the pitch angle value of the set in the normal running state and the tower vibration compensation pitch angle to be used as a final pitch angle set value and then outputs the final pitch angle set value to a pitch angle execution mechanism of the wind generating set, and the blade pitch angle is adjusted to achieve the purpose of reducing tower vibration; if the condition is not met, the variable pitch controller directly outputs the variable pitch angle value of the unit in the normal operation state to the variable pitch actuating mechanism to be executed, namely, the tower vibration compensation pitch angle is not needed to be superposed.
In the fore-and-aft displacement measuring module of the engine room, a preset position P in the engine room1Absolute displacement relative to tower axis X1At a predetermined position P in the cabin2Absolute displacement relative to tower axis X2The front-rear displacement of the nacelle is Δ X ═ X1-X2(ii) a When X is present1≥X2When the value is more than or equal to 0, the delta X is more than or equal to 0; when X is present1＜X2When, Δ X is less than 0; wherein the predetermined position P1、P2And calibrating according to the actual field condition.
In the cabin front and rear displacement filtering module, the cabin front and rear displacement delta X measured by the cabin front and rear displacement measuring module is filtered by a second-order band-pass filter to obtain the filtered cabin front and rear displacement Xf(ii) a Wherein, the transfer function G(s) of the second-order band-pass filter is as follows:
where s is the complex variable of the Laplace transform, K is the filter gain, ω0Is the filter center frequency, and epsilon is the filter damping coefficient; center frequency ω of the filter0Adopting tower frequency, wherein the tower frequency is tower first-order front and back modal frequency, and the tower first-order front and back modal frequency can be determined by performing power spectrum analysis on variables such as generator rotating speed, cabin front and back acceleration and the like; the damping coefficient epsilon of the filter is determined according to the required bandwidth, the second-order band-pass filter cannot completely attenuate all frequencies outside the expected frequency range, the expected frequency is the center frequency of the filter, namely the tower frequency, the impeller rotating frequency is arranged outside the pass band of the filter, the impeller rotating frequency is 1-time frequency and 3-time frequency of the rotating speed of the impeller, the frequency outside the pass band is only attenuated but not isolated, and therefore, partial energy of the impeller rotating frequency can exist in the pass band and cannot be eliminated; the product of the filter gain K and the compensation gain of the tower vibration controller is used as the gain of the tower vibration controller, and the compensation gain is a conversion coefficient set in the tower vibration controller for converting the front and back displacement of the engine room into the compensation pitch angle; the filter gain K can temporarily be taken to 1, so that it is mainly adjusted by the compensating gain value of the tower vibrator
In the tower vibration compensation pitch angle calculation module, the compensation gain of the tower vibration controller is set to KpAnd K ispGreater than 0, and the tower vibration compensation pitch angle is set to Pt，Pt＝Kp*Xf，XfThe filtered fore-and-aft displacement of the cabin.
Compensating pitch angle output at tower vibrationIn the judging module, when the condition is met, the tower vibration is compensated for the pitch angle PtInputting the data into a variable pitch controller, and calculating a set value P of the pitch angle by the variable pitch controllerdem＝Pn+PtAnd the data are output to a variable pitch actuating mechanism, and the variable pitch actuating mechanism adjusts the pitch angle of the blade to reach a set value P of the pitch angledemWherein P isnWhen no tower vibration control exists, the variable pitch angle value of the unit is in a normal operation state; when the condition is not met, outputting a pitch angle set value P to a pitch changing actuating mechanismdem＝Pn。
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that the changes in the shape and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A vibration control method for a tower of a wind generating set is characterized in that measured fore-and-aft displacement of an engine room is used as input, filtering processing is carried out through a second-order band-pass filter, then a tower vibration compensation pitch angle is obtained through calculation of a tower vibration controller, whether the tower vibration compensation pitch angle needs to be input into a variable pitch controller of the wind generating set is judged according to conditions, and finally a variable pitch command is sent by the variable pitch controller to adjust the pitch angle of a blade, so that thrust borne by the tower is changed, tower vibration is reduced, and the aim of reducing fatigue load of the tower is fulfilled.
2. The method for controlling the vibration of the tower of the wind generating set according to claim 1, comprising the following steps:
1) measuring the front and back displacement of the engine room;
a relative displacement sensor is arranged on a base of an engine room of the wind generating set, the relative displacement sensor outputs resistance or voltage by converting mechanical displacement into linear or any function relation, and the change condition of the front and back displacement of the engine room is measured through the change of the resistance or the voltage, so that the change condition becomes the input of a tower vibration controller;
2) filtering the measured front and rear displacements of the engine room;
filtering the front and rear displacements of the engine room measured in the step 1) through a second-order band-pass filter;
3) calculating the vibration compensation pitch angle of the tower;
taking the front and rear displacements of the engine room processed by the second-order band-pass filter in the step 2) as the input of a tower vibration controller, and calculating to obtain a tower vibration compensation pitch angle in the tower vibration controller according to the multiplication of the front and rear displacements of the engine room by a compensation gain; wherein, the compensation gain is a conversion coefficient set in the tower vibration controller for converting the front-back displacement of the engine room into the compensation pitch angle;
4) judging whether the tower vibration compensation pitch angle needs to be input into a variable pitch controller for vibration control according to conditions;
the conditions need to be satisfied: when the generator torque of the wind generating set is kept to be more than 0.95 times of the rated torque, the tower vibration compensation pitch angle calculated in the step 3) is input into a pitch controller, and the pitch controller adds the pitch angle value of the set in the normal operation state to the tower vibration compensation pitch angle to serve as a final pitch angle set value and then outputs the final pitch angle set value to a pitch actuator of the wind generating set, and the blade pitch angle is adjusted to achieve the purpose of reducing the tower vibration; if the condition is not met, the variable pitch controller directly outputs the variable pitch angle value of the unit in the normal operation state to the variable pitch actuating mechanism to be executed.
3. The method for controlling the vibration of the tower of the wind generating set according to claim 2, wherein: in step 1), a predetermined position P in the cabin is set1Absolute displacement relative to tower axis X1At a predetermined position P in the cabin2Absolute displacement relative to tower axis X2The front-rear displacement of the nacelle is Δ X ═ X1-X2(ii) a When X is present1≥X2When the value is more than or equal to 0, the delta X is more than or equal to 0; when X is present1＜X2When, Δ X is less than 0; wherein the predetermined position P1、P2And calibrating according to the actual field condition.
4. The method for controlling the vibration of the tower of the wind generating set according to claim 2, wherein: in the step 2), the fore-and-aft displacement delta X of the engine room measured in the step 1) is filtered through a second-order band-pass filter to obtain the filtered fore-and-aft displacement X of the engine roomf(ii) a Wherein, the transfer function G(s) of the second-order band-pass filter is as follows:
where s is the complex variable of the Laplace transform, K is the filter gain, ω0Is the filter center frequency, and epsilon is the filter damping coefficient; center frequency ω of the filter0Adopting tower frequency, wherein the tower frequency is tower first-order front and back modal frequency, and the tower first-order front and back modal frequency can be determined by performing power spectrum analysis on some variables of the wind generating set, wherein the variables comprise generator rotating speed and engine room front and back acceleration; the damping coefficient epsilon of the filter is determined according to the required bandwidth, the second-order band-pass filter cannot completely attenuate all frequencies outside the expected frequency range, the expected frequency is the center frequency of the filter, namely the tower frequency, the impeller frequency conversion exists outside the pass band of the filter, the frequencies outside the pass band are attenuated but not isolated, and therefore partial impeller frequency conversion energy possibly exists in the pass band and cannot be removed; and the product of the gain K of the filter and the compensation gain of the tower vibration controller is used as the gain of the tower vibration controller.
5. The method for controlling the vibration of the tower of the wind generating set according to claim 2, wherein: in step 3), the compensation gain of the tower vibration controller is set to KpAnd K ispGreater than 0, and the tower vibration compensation pitch angle is set to Pt，Pt＝Kp*Xf，XfThe filtered fore-and-aft displacement of the cabin.
6. The method for controlling the vibration of the tower of the wind generating set according to claim 2, wherein: in step 4), the tower vibration compensation pitch angle calculated in step 3) is PtCompensating the tower vibration for the pitch angle P when the conditions are mettInputting the data into a variable pitch controller, and calculating a set value P of the pitch angle by the variable pitch controllerdem＝Pn+PtAnd the data are output to a variable pitch actuating mechanism, and the variable pitch actuating mechanism adjusts the pitch angle of the blade to reach a set value P of the pitch angledemWherein P isnWhen no tower vibration control exists, the variable pitch angle value of the unit is in a normal operation state; when the condition is not met, outputting a pitch angle set value P to a pitch changing actuating mechanismdem＝Pn。
7. A wind generating set tower vibration control system, comprising:
the system comprises a front and rear cabin displacement measuring module, a tower vibration controller and a wind generating set, wherein a relative displacement sensor is arranged on a cabin base of the wind generating set, mechanical displacement is converted into resistance or voltage output in a linear or any functional relation through the relative displacement sensor, and therefore the front and rear cabin displacement change condition is measured through the change of the resistance or the voltage and becomes the input of the tower vibration controller;
the cabin front and rear displacement filtering module is used for filtering the cabin front and rear displacement measured by the cabin front and rear displacement measuring module by adopting a second-order band-pass filter;
the tower vibration compensation pitch angle calculation module takes the front and rear cabin displacement processed by the front and rear cabin displacement filtering module as the input of a tower vibration controller, and the tower vibration compensation pitch angle is calculated in the tower vibration controller according to the multiplication of the front and rear cabin displacement and the compensation gain; wherein, the compensation gain is a conversion coefficient set in the tower vibration controller for converting the front-back displacement of the engine room into the compensation pitch angle;
the tower vibration compensation pitch angle output judgment module is used for judging whether the tower vibration compensation pitch angle needs to be input into a pitch controller of the wind generating set; wherein, the conditions need to be satisfied: when the generator torque of the wind generating set is kept to be more than 0.95 times of the rated torque, the tower vibration compensation pitch angle calculated by the tower vibration compensation pitch angle calculation module is input into the pitch controller, and at the moment, the pitch controller adds the pitch angle value of the set in the normal running state and the tower vibration compensation pitch angle to be used as a final pitch angle set value and then outputs the final pitch angle set value to a pitch angle execution mechanism of the wind generating set, and the blade pitch angle is adjusted to achieve the purpose of reducing tower vibration; if the condition is not met, the variable pitch controller directly outputs the variable pitch angle value of the unit in the normal operation state to the variable pitch actuating mechanism to be executed, namely, the tower vibration compensation pitch angle is not needed to be superposed.
8. The system of claim 7, wherein: in the fore-and-aft displacement measuring module of the engine room, a preset position P in the engine room1Absolute displacement relative to tower axis X1At a predetermined position P in the cabin2Absolute displacement relative to tower axis X2The front-rear displacement of the nacelle is Δ X ═ X1-X2(ii) a When X is present1≥X2When the value is more than or equal to 0, the delta X is more than or equal to 0; when X is present1＜X2When, Δ X is less than 0; wherein the predetermined position P1、P2And calibrating according to the actual field condition.
9. The system of claim 7, wherein: in the cabin front and rear displacement filtering module, the cabin front and rear displacement delta X measured by the cabin front and rear displacement measuring module is filtered by a second-order band-pass filter to obtain the filtered cabin front and rear displacement Xf(ii) a Wherein, the transfer function G(s) of the second-order band-pass filter is as follows:
where s is the complex variable of the Laplace transform, K is the filter gain, ω0Is the filter center frequency, and epsilon is the filter damping coefficient; center frequency ω of the filter0Adopting tower frequency, wherein the tower frequency is tower first-order front and back modal frequency, and the tower first-order front and back modal frequency can be determined by performing power spectrum analysis on some variables of the wind generating set, wherein the variables comprise generator rotating speed and engine room front and back acceleration; the damping coefficient epsilon of the filter is determined according to the required bandwidth, the second-order band-pass filter cannot completely attenuate all frequencies outside the expected frequency range, the expected frequency is the center frequency of the filter, namely the tower frequency, the impeller frequency conversion exists outside the pass band of the filter, the frequencies outside the pass band are attenuated but not isolated, and therefore partial impeller frequency conversion energy possibly exists in the pass band and cannot be removed; and the product of the gain K of the filter and the compensation gain of the tower vibration controller is used as the gain of the tower vibration controller.
10. The system of claim 7, wherein: in the tower vibration compensation pitch angle calculation module, the compensation gain of the tower vibration controller is set to KpAnd K ispGreater than 0, and the tower vibration compensation pitch angle is set to Pt，Pt＝Kp*Xf，XfThe filtered front and back displacement of the engine room is obtained;
in the tower vibration compensation pitch angle output judgment module, when the condition is met, the tower vibration compensation pitch angle P is used for judging whether the tower vibration compensation pitch angle P meets the conditiontInputting the data into a variable pitch controller, and calculating a set value P of the pitch angle by the variable pitch controllerdem＝Pn+PtAnd the data are output to a variable pitch actuating mechanism, and the variable pitch actuating mechanism adjusts the pitch angle of the blade to reach a set value P of the pitch angledemWherein P isnWhen no tower vibration control exists, the variable pitch angle value of the unit is in a normal operation state; when the condition is not met, outputting a pitch angle set value P to a pitch changing actuating mechanismdem＝Pn。
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