CN113982826A - Variable pitch control method and system for wind generating set - Google Patents

Variable pitch control method and system for wind generating set Download PDF

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Publication number
CN113982826A
CN113982826A CN202111270021.1A CN202111270021A CN113982826A CN 113982826 A CN113982826 A CN 113982826A CN 202111270021 A CN202111270021 A CN 202111270021A CN 113982826 A CN113982826 A CN 113982826A
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rotating speed
speed acceleration
angle
variable pitch
pitch
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CN113982826B (en
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雷春宇
邓雨
马帅
文华
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CSIC Haizhuang Windpower Co Ltd
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CSIC Haizhuang Windpower Co Ltd
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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 
    • 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
    • F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
    • 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
    • F05B2270/327—Rotor or generator speeds
    • 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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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Wind Motors (AREA)

Abstract

The invention discloses a variable pitch control method and a variable pitch control system for a wind generating set, wherein the method comprises the steps of obtaining the current rotating speed acceleration of the wind generating set based on the rotating speed of a generator of the wind generating set; judging whether the current rotating speed acceleration exceeds a preset rotating speed acceleration or not; if the current rotating speed acceleration exceeds the preset rotating speed acceleration, determining a pitch angle superposition value which needs to be additionally superposed during pitch variation based on the current rotating speed acceleration and a pre-constructed rotating speed acceleration-pitch angle superposition curve; determining an actual variable pitch angle based on the current rotating speed acceleration, the determined variable pitch angle superposition value and a corresponding relation between the pre-stored rotating speed acceleration and the variable pitch angle; and generating a variable pitch control signal based on the determined actual variable pitch angle to control the variable pitch of the wind generating set. The invention can effectively prevent the overspeed problem of the wind generating set caused by the rapid increase of the rotating speed of the generator due to untimely pitch variation or low pitch variation speed at the stage of rapid rise of the wind speed.

Description

Variable pitch control method and system for wind generating set
Technical Field
The invention relates to the technical field of wind power variable pitch control, in particular to a variable pitch control method of a wind generating set.
Background
With the rapid development of the wind power industry, the unit kilowatt wind sweeping area of a wind generating set is larger and larger, the wind resource condition of the installation position is worse and worse, and the problem of over speed of a generator is more serious. When the generator is over-speed, the wind generating set may exceed the design load, and even fall of the tower of the wind generating set may be caused in severe cases, which brings serious loss to the whole manufacturer and the owner.
When the wind generating set encounters an extreme gust condition (EOG gust) exceeding the design, the method is characterized in that: the wind speed is rapidly reduced and then rapidly increased, and at the moment, the rotating speed of a generator in the wind generating set is rapidly reduced and then rapidly increased. When the rotating speed reaches the rated rotating speed, the wind generating set starts to change the pitch, the pitch angle is 0 degree at the moment, the maximum wind energy absorption is kept, and the overspeed cannot be avoided even if the pitch is changed at a very high speed. Along with the design and development of ultra-low wind speed fans, the blades of wind generating sets are longer and longer, the problem of overspeed is more and more obvious, and the load of the sets is greatly challenged.
Therefore, how to prevent the overspeed problem of the wind generating set is a problem to be solved urgently at present.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and particularly provides a variable pitch control method and system for a wind generating set, which can effectively prevent the overspeed problem of the wind generating set caused by the rapid increase of the rotating speed of a generator due to untimely variable pitch or low variable pitch speed in the stage of rapid increase of the wind speed.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a pitch control method of a wind turbine generator system, the method including the steps of:
obtaining the current rotating speed acceleration of the wind generating set based on the rotating speed of the generator of the wind generating set;
judging whether the current rotating speed acceleration exceeds a preset rotating speed acceleration or not;
if the current rotating speed acceleration exceeds the preset rotating speed acceleration, determining a variable pitch angle superposition value needing to be additionally superposed during variable pitch based on the current rotating speed acceleration and a pre-constructed rotating speed acceleration-variable pitch superposition angle curve;
determining an actual variable pitch angle based on the current rotating speed acceleration, the determined variable pitch angle superposition value and a corresponding relation between the pre-stored rotating speed acceleration and the variable pitch angle;
and generating a variable pitch control signal based on the determined actual variable pitch angle to control the variable pitch of the wind generating set.
Preferably, the pitch control method of the wind generating set further comprises the step of constructing a speed acceleration-pitch superposition angle curve, wherein,
the step of constructing the rotational speed acceleration-variable pitch superposition angle curve comprises the following steps of:
obtaining a variable pitch angle-rotating speed acceleration dispersion point distribution diagram of a first preset working condition and a second preset working condition based on simulation operation data of the wind generating set under different working conditions;
obtaining a first function relation which can reflect the correlation between the variable pitch angle and the rotating speed acceleration under the first preset working condition according to the variable pitch angle-rotating speed acceleration outer contour line of the first preset working condition in the variable pitch angle-rotating speed acceleration scatter distribution diagram;
obtaining a second function relation which can reflect the correlation between the variable pitch angle and the rotating speed acceleration under a second preset working condition according to the variable pitch angle-rotating speed acceleration outer contour line of the second preset working condition in the variable pitch angle-rotating speed acceleration scatter distribution diagram;
obtaining a plurality of variable pitch angle difference values between a first preset working condition and a second preset working condition under different rotating speed accelerations according to the first functional relation and the second functional relation;
comparing the variable pitch angle difference with a first variable pitch angle under the same rotating speed acceleration calculated according to the first function relation, and setting the smaller of the variable pitch angle difference and the first variable pitch angle as a variable pitch superposition angle under the rotating speed acceleration;
obtaining a rotating speed acceleration-variable pitch superposition angle corresponding table according to the corresponding relation between the variable pitch superposition angle and the rotating speed acceleration under different rotating speed accelerations;
and drawing the curve of the rotating speed acceleration-variable pitch superposition angle according to the corresponding table of the rotating speed acceleration-variable pitch superposition angle.
Preferably, the obtaining of the current rotation speed acceleration of the wind generating set based on the generator rotation speed of the wind generating set comprises:
acquiring the rotating speed of a generator of the wind generating set;
carrying out mean value filtering processing on the rotating speed of the generator to obtain the rotating speed of the current sampling period and the rotating speed of the previous sampling period;
calculating instantaneous rotating speed acceleration based on the rotating speed of the current sampling period and the rotating speed of the previous period;
and carrying out mean value filtering processing on the instantaneous rotating speed acceleration to obtain the current rotating speed acceleration.
Preferably, the determining a pitch superposition angle value to be superposed when the pitch is changed based on the current rotational speed acceleration and a pre-constructed rotational speed acceleration-pitch superposition angle curve includes:
inquiring a variable pitch superposition angle corresponding to the current rotating speed acceleration in the pre-constructed rotating speed acceleration-variable pitch superposition angle curve based on the current rotating speed acceleration;
and determining the pitch variation superposition angle obtained by query as the pitch variation superposition angle value to be superposed when the pitch variation is carried out.
Preferably, the determining an actual pitch angle based on the current rotational speed acceleration, the determined pitch stacking angle value, and the pre-stored correspondence between the rotational speed acceleration and the pitch angle includes:
obtaining an initial pitch variation angle under the current rotating speed acceleration according to the current rotating speed acceleration and a corresponding relation between the pre-stored rotating speed acceleration and the pitch variation angle;
and adding the determined pitch superposition angle value and the initial pitch angle to obtain the actual pitch angle.
In order to achieve the above object, according to a second aspect of the present invention, there is provided a pitch control system of a wind turbine generator system, the system including:
the acceleration calculation module is used for obtaining the current rotating speed acceleration of the wind generating set based on the rotating speed of the generator of the wind generating set;
the judging module is used for judging whether the current rotating speed acceleration exceeds a preset rotating speed acceleration or not;
the pitch angle superposition value determining module is used for determining a pitch angle superposition value which needs to be additionally superposed during pitch variation based on the current rotating speed acceleration and a pre-constructed rotating speed acceleration-pitch superposition angle curve when the current rotating speed acceleration exceeds the preset rotating speed acceleration;
the actual variable pitch angle determining module is used for determining an actual variable pitch angle based on the current rotating speed acceleration, the determined variable pitch angle superposition value and the corresponding relation between the pre-stored rotating speed acceleration and the variable pitch angle;
and the variable pitch control signal generating module is used for generating variable pitch control signals based on the determined actual variable pitch angle so as to control the variable pitch of the wind generating set.
Preferably, the wind generating set pitch control system further comprises a curve construction module for constructing the rotational speed acceleration-pitch superposition angle curve, wherein,
the curve building module comprises:
the scatter distribution diagram drawing unit is used for obtaining a variable pitch angle-rotating speed acceleration scatter distribution diagram of a first preset working condition and a second preset working condition based on simulation operation data of the wind generating set under different working conditions;
the first function relation generation unit is used for obtaining a first function relation which can reflect the correlation between the variable pitch angle and the rotating speed acceleration under the first preset working condition according to the variable pitch angle-rotating speed acceleration outer contour line of the first preset working condition in the variable pitch angle-rotating speed acceleration scatter distribution diagram;
the second function relation generation unit is used for obtaining a second function relation which can reflect the correlation between the variable pitch angle and the rotating speed acceleration under a second preset working condition according to the variable pitch angle-rotating speed acceleration outer contour line of the second preset working condition in the variable pitch angle-rotating speed acceleration scatter distribution diagram;
the variable pitch angle difference value calculation unit is used for obtaining a plurality of variable pitch angle difference values between a first preset working condition and a second preset working condition under different rotating speed accelerations according to the first functional relation formula and the second functional relation formula;
the pitch variation superposition angle calculation unit is used for comparing the pitch variation angle difference with a first pitch variation angle under the same rotating speed acceleration calculated according to the first function relation, and setting the smaller of the pitch variation angle difference and the first pitch variation angle as the pitch variation superposition angle under the rotating speed acceleration;
the table generating unit is used for obtaining a rotating speed acceleration-variable pitch superposition angle corresponding table according to the corresponding relation between the variable pitch superposition angle and the rotating speed acceleration under different rotating speed accelerations;
and the curve drawing unit is used for drawing the rotating speed acceleration-variable pitch superposition angle curve according to the rotating speed acceleration-variable pitch superposition angle corresponding table.
Preferably, the acceleration calculation module includes:
the generator rotating speed acquisition unit is used for acquiring the generator rotating speed of the wind generating set;
the generator rotating speed processing unit is used for carrying out mean value filtering processing on the generator rotating speed to obtain a current sampling period rotating speed and a last sampling period rotating speed;
the instantaneous acceleration calculating unit is used for calculating instantaneous rotating speed acceleration based on the rotating speed of the current sampling period and the rotating speed of the previous period;
and the rotating speed acceleration filtering unit is used for carrying out mean value filtering processing on the instantaneous rotating speed acceleration to obtain the current rotating speed acceleration.
Preferably, the pitch angle superposition value determining module includes:
the variable pitch superposition angle query unit is used for querying a variable pitch superposition angle corresponding to the current rotating speed acceleration in the pre-constructed rotating speed acceleration-variable pitch superposition angle curve based on the current rotating speed acceleration when the current rotating speed acceleration exceeds the preset rotating speed acceleration;
and the pitch variation superposition angle determining unit is used for determining the searched pitch variation superposition angle as the pitch variation superposition angle value to be superposed when the pitch variation is carried out.
Preferably, the actual pitch angle determination module comprises:
the initial pitch angle acquisition unit is used for obtaining an initial pitch angle under the current rotating speed acceleration according to the current rotating speed acceleration and the corresponding relation between the pre-stored rotating speed acceleration and the pitch angle;
and the actual pitch angle calculating unit is used for adding the determined pitch superposition angle value and the initial pitch angle to obtain the actual pitch angle.
According to the scheme, the application provides a variable pitch control method and a variable pitch control system for a wind generating set, wherein the method comprises the following steps: obtaining the current rotating speed acceleration of the wind generating set based on the rotating speed of the generator of the wind generating set; judging whether the current rotating speed acceleration exceeds a preset rotating speed acceleration or not; if the current rotating speed acceleration exceeds the preset rotating speed acceleration, determining a variable pitch angle superposition value needing to be additionally superposed during variable pitch based on the current rotating speed acceleration and a pre-constructed rotating speed acceleration-variable pitch superposition angle curve; determining an actual variable pitch angle based on the current rotating speed acceleration, the determined variable pitch angle superposition value and a corresponding relation between the pre-stored rotating speed acceleration and the variable pitch angle; and generating a variable pitch control signal based on the determined actual variable pitch angle to control the variable pitch of the wind generating set.
According to the technical scheme, the variable pitch control is performed on the generator set based on the rotating speed acceleration of the generator, when the rotating speed of the generator is identified to be increased too fast (namely the current rotating speed acceleration exceeds the preset rotating speed acceleration), a variable pitch angle superposition value obtained through calculation of simulation operation data is additionally superposed on the basis of the variable pitch angle corresponding to the original control strategy, and the superposed variable pitch angle is used as the actual variable pitch angle to generate a corresponding variable pitch control signal to perform variable pitch control on the wind generating set, so that if the wind generating set is in a low rotating speed interval, the wind generating set can be changed in advance in a variable pitch angle superposing mode, and the rotating speed increasing rate is controlled; if the wind generating set is in a high-rotating-speed interval, the pitch of the wind generating set can be accelerated by superposing the pitch angles, so that the whole wind energy utilization coefficient of the wind generating set is reduced, the problem of overspeed caused by the rapid rise of the rotating speed of the generator due to untimely pitch or low pitch speed in the stage of rapid rise of the wind speed is prevented, and the load of the set is effectively reduced.
Additional aspects and advantages of the invention 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 invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of a control speed-power relationship curve of a current wind turbine generator system;
FIG. 2 is a schematic view of a current wind speed-rotation speed relationship curve of a wind turbine generator system;
fig. 3 is a distribution diagram of the pitch angle-rotational speed acceleration scattering point of the first preset working condition (DLC1.2) and the second preset working condition (DLC1.3) obtained based on simulation operation data of the wind turbine generator set under different working conditions in a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of a rotational speed acceleration-pitch superposition angle curve according to a rotational speed acceleration-pitch superposition angle mapping table in a preferred embodiment of the present invention;
FIG. 5 is a flow chart of a wind turbine generator set pitch control method in a preferred embodiment of the present invention;
FIG. 6 is a flow chart of constructing a rotational speed acceleration-pitch angle superposition curve according to a preferred embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a pitch control system of a wind generating set in a preferred embodiment of the invention;
FIG. 8 is a schematic structural diagram of an actual pitch angle determining module in a preferred embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The relation between the control rotating speed and the power of the wind generating set is generally shown in fig. 1, wherein the abscissa represents the rotating speed of the generator, and the ordinate represents the power of the generator. In the figure, N1 is the lowest operation rotating speed, Nr is the rated rotating speed, N2 is the rotating speed when the pitch angle is controlled to be 0 degrees, N3 is the overspeed stop rotating speed, and NA is the stop rotating speed of the broken safety chain; the area with the rotation speed between N1 and N12 is a Control area I (Control Zone I), the area with the rotation speed between N12 and Nr is a Control area II (Control Zone II), the area with the rotation speed between Nr and N3 is a Control area iii (Control Zone iii), and N12 is the set switching rotation speed of the Control area I and the Control area II. In the control area I and the control area II, the pitch controller controls the pitch angle to keep the minimum blade angle, and in the control area III, the pitch controller controls the rotating speed of the generator to keep the rotating speed within a certain range of the rated rotating speed.
At present, the wind speed-rotating speed relationship of a wind generating set is generally shown in fig. 2, wherein the abscissa represents the wind speed, and the ordinate represents the rotating speed of a generator. In the figure, Vin is a cut-in wind speed, Vr is a rated wind speed, Vout is a 10min cut-out wind speed, VA is a 1s cut-out wind speed, N1 is a minimum operating rotational speed, Nr is a rated rotational speed, N3 is an overspeed shutdown rotational speed, and NA is a broken safety chain shutdown rotational speed. The normal operation rotating speed range of the wind generating set is N1-N3, and two-stage protection is set aiming at the rotating speed of the generator/the rotating speed of the wind wheel:
if the rotating speed of the generator/the rotating speed of the wind wheel exceeds N3, triggering a first overspeed fault, and controlling the quick stop by the PLC control module;
and if the rotating speed of the generator/the rotating speed of the wind wheel exceeds NA, triggering a second overspeed fault, and disconnecting the safety chain to stop the machine quickly.
In order to avoid the normal operation of the wind generating set and the power grid influenced by the overspeed fault of the wind generating set, the generator speed of the wind generating set needs to be controlled within N3.
As shown in fig. 5, an embodiment of the present invention provides a pitch control method for a wind turbine generator system, where the method may include the following steps:
and S1, obtaining the current rotating speed acceleration of the wind generating set based on the rotating speed of the generator of the wind generating set.
When the pitch control is carried out on the wind generating set, the current rotating speed acceleration of the wind generating set is firstly calculated according to the real-time rotating speed of the wind generating set, wherein the real-time rotating speed of the wind generating set can be detected through rotating speed measuring elements such as a rotating speed sensor arranged on a generator, the rotating speed of a wind wheel can also be measured through the rotating speed measuring elements arranged on the wind wheel, and then the real-time rotating speed of the wind generator is calculated according to the transmission ratio of a transmission mechanism between the wind wheel and the generator.
And S2, judging whether the current rotating speed acceleration exceeds the preset rotating speed acceleration.
And after the current rotating speed acceleration of the wind generating set is obtained through calculation, comparing the current rotating speed acceleration with a preset rotating speed acceleration stored in advance, and judging whether the current rotating speed acceleration exceeds the preset rotating speed acceleration or not. Specifically, the preset rotating speed and acceleration can be obtained according to equipment parameters of the wind generating set or by performing simulation experiments on each operating condition of the wind generating set. Whether the current wind speed is in a rapid rising stage or not is identified by comparing the current rotating speed acceleration with the preset rotating speed acceleration, so that whether the rotating speed of the generator exceeds the speed limit or not is judged in advance.
S3, if the current rotating speed acceleration exceeds the preset rotating speed acceleration, determining a pitch angle superposition value which needs to be additionally superposed when the pitch is changed based on the current rotating speed acceleration and a pre-constructed rotating speed acceleration-pitch superposition angle curve.
When the current rotating speed acceleration exceeds the preset rotating speed acceleration, the current wind speed is indicated to be in a rapid rising stage, corresponding variable pitch control needs to be carried out on the wind generating set, and at the moment, a variable pitch angle superposition value needing to be additionally superposed during variable pitch is determined according to the current rotating speed acceleration and a rotating speed acceleration-variable pitch superposition angle curve constructed in advance.
And S4, determining the actual pitch angle based on the current rotating speed acceleration, the determined pitch angle superposition value and the corresponding relation between the pre-stored rotating speed acceleration and the pitch angle.
After the additional stacked variable pitch angle stacking value required during variable pitch is determined, the actual variable pitch angle is determined according to the current rotating speed acceleration, the variable pitch angle stacking value and the corresponding relation between the pre-stored rotating speed acceleration and the variable pitch angle, and the actual variable pitch angle is the variable pitch angle which is actually generated by the wind turbine blade and is used for controlling a variable pitch system of the wind turbine generator set to execute a variable pitch instruction at the current time. The prestored corresponding relation between the rotating speed acceleration and the variable pitch angle refers to the corresponding relation between the rotating speed acceleration and the variable pitch angle of other control strategies set in the control of the wind generating set before the control strategy is executed.
And S5, generating a pitch control signal based on the determined actual pitch angle to control the pitch of the wind generating set.
And finally, generating a control signal according to the determined actual pitch variation angle, and controlling the pitch variation of the wind generating set by a power speed controller in the pitch variation control system through the control signal, so that the advanced pitch variation is realized when the wind generating set is in a low rotating speed interval, the quick pitch variation is realized when the wind generating set is in a high rotating speed interval, and the overspeed problem caused by the quick rise of the rotating speed of the generator is avoided by controlling the rising speed of the rotating speed.
In an embodiment, the wind turbine generator system pitch control method further includes a step of constructing a rotational speed acceleration-pitch angle superposition angle curve, and as shown in fig. 6, the step of constructing the rotational speed acceleration-pitch angle superposition angle curve may specifically include the following sub-steps:
s01, obtaining a variable pitch angle-rotating speed acceleration dispersion point distribution diagram of the first preset working condition and the second preset working condition based on the simulation operation data of the wind generating set under different working conditions.
When a rotational speed acceleration-variable pitch superposition angle curve is constructed, firstly, a variable pitch angle-rotational speed acceleration scattering point distribution diagram under a first preset working condition and a second preset working condition is drawn according to simulation operation data of a generator set under different working conditions.
It should be noted that the first preset working condition and the second preset working condition are different operation working conditions of the wind turbine generator system. Specifically, in this embodiment, the first preset operating condition is a normal operating condition of the wind turbine generator system, and the second preset operating condition is an extreme turbulence operating condition.
As shown in fig. 3, in a specific example of the present invention, a pitch angle-rotational speed acceleration dispersion point distribution diagram of a first preset working condition and a second preset working condition is obtained according to simulation operation data of a certain 2.5MW type wind turbine generator set under different working conditions, where an abscissa represents a pitch angle (unit is degree) and an ordinate represents a rotational speed acceleration (unit is radian per square meter second), where the first preset working condition is a normal operating working condition (i.e., DLC1.2 working condition on the way), and the second preset working condition is an extreme turbulence working condition (i.e., DLC1.3 working condition in the diagram). Specifically, in this embodiment, the simulation of the wind turbine generator system under different working conditions is specifically implemented by using blanked simulation software.
S02, obtaining a first function relation expression capable of reflecting the correlation between the variable pitch angle and the rotating speed acceleration under the first preset working condition according to the variable pitch angle-rotating speed acceleration outer contour line of the first preset working condition in the variable pitch angle-rotating speed acceleration scattering point distribution diagram.
By adopting a boundary condition analysis method, extracting characteristic points (namely convex points on the outer contour line) after deleting the extreme points of the outer contour line of the variable pitch angle-rotating speed acceleration under the first preset working condition in the scatter point distribution diagram, so that the linear function of the lines sequentially connecting the characteristic points is monotonically increased, and the first function relation formula taking the rotating speed acceleration as an independent variable and the variable pitch angle as a dependent variable is obtained.
And S03, obtaining a second function relation capable of reflecting the correlation between the variable pitch angle and the rotating speed acceleration under the second preset working condition according to the variable pitch angle-rotating speed acceleration outer contour line of the second preset working condition in the variable pitch angle-rotating speed acceleration scatter distribution diagram.
By adopting a boundary condition analysis method, extracting characteristic points (namely convex points on the outer contour line) after deleting the extreme points of the outer contour line of the variable pitch angle-rotating speed acceleration under the second preset working condition in the scatter point distribution diagram, so that the linear function of the lines sequentially connecting the characteristic points is monotonically increased, and a second function relation formula taking the rotating speed acceleration as an independent variable and the variable pitch angle as a dependent variable is obtained.
And S04, obtaining a plurality of variable pitch angle difference values between the first preset working condition and the second preset working condition under different rotating speed accelerations according to the first functional relation and the second functional relation.
Then, calculating a variable pitch angle value under the same rotating speed acceleration according to the first functional relation and the second functional relation, subtracting two corresponding variable pitch angle values obtained by solving the two functional relations to obtain a variable pitch angle difference value under the rotating speed acceleration, and respectively calculating the variable pitch angle difference value between a first preset working condition and a second preset working condition under different accelerations by adopting the same method to obtain a plurality of variable pitch angle difference values.
And S05, comparing the variable pitch angle difference with a first variable pitch angle under the same rotating speed acceleration calculated according to the first function relation, and setting the smaller of the variable pitch angle difference and the first variable pitch angle as a variable pitch superposition angle under the rotating speed acceleration.
And then, comparing the variable pitch angle difference with a first variable pitch angle under the same rotating speed acceleration calculated according to the first function relation, and setting the smaller of the variable pitch angle difference and the first variable pitch angle as a variable pitch superposition angle under the rotating speed acceleration. In this embodiment, as shown in fig. 3, since the first pitch angle of the normal operation condition (DLC1.2 condition) under the same rotational speed acceleration calculated according to the first functional relation is the smaller of the two, the first pitch angle of the DLC1.2 condition under the same rotational speed acceleration calculated according to the first functional relation is used as the pitch superposition angle.
And S06, obtaining a rotating speed acceleration-variable pitch superposition angle corresponding table according to the corresponding relation between the variable pitch superposition angle and the rotating speed acceleration under different rotating speed accelerations.
And then, after the corresponding variable pitch superposition angles under different accelerations are obtained through calculation in the previous step, obtaining a rotating speed acceleration-variable pitch superposition angle corresponding table according to the corresponding relation between the variable pitch superposition angles and the rotating speed accelerations under different rotating speed accelerations. In this embodiment, the rotational speed acceleration-pitch variation superposition angle correspondence table is shown in the following table.
Figure BDA0003328402740000141
And S07, drawing a curve of the rotating speed acceleration-variable pitch superposition angle according to the corresponding table of the rotating speed acceleration-variable pitch superposition angle.
And finally, drawing each point in a rectangular coordinate system by taking the rotating speed acceleration in the table as a horizontal coordinate and the variable pitch superposition angle as a vertical coordinate according to the rotating speed acceleration-variable pitch superposition angle corresponding table obtained in the last step, and connecting two adjacent points in sequence by using a straight line to obtain a rotating speed acceleration-variable pitch superposition angle curve. In this embodiment, a rotational speed acceleration-pitch angle superposition angle curve obtained according to the above table is shown in fig. 4. As can be seen from fig. 4, when the rotational speed acceleration is 3, the pitch angle is additionally superimposed on the basis of the pitch angle corresponding to the original control strategy when the pitch is changed, that is, the pitch superimposed angle corresponding to the rotational speed acceleration is superimposed, and the superimposed pitch angle is used as the actual pitch angle expected to be obtained to generate the pitch control signal. In this implementation, when the rotational speed acceleration is 3, the pitch superposition angle starts to be additionally superposed when the pitch is changed, that is, the rotational speed acceleration is preset to be 3.
In an embodiment, the step S1 may specifically include the following steps:
firstly, acquiring the rotating speed of a generator of a wind generating set;
then, carrying out mean value filtering processing on the rotating speed of the generator to obtain the rotating speed of the current sampling period and the rotating speed of the previous sampling period; specifically, in this embodiment, the sampling period of the controller sampling the rotation speed of the generator is 10ms, the average filtering processing employs 500ms average filtering, and experiments prove that when the sampling period of the controller is 10ms, the 500ms average filtering is employed to process the rotation speed of the generator, and the obtained processed rotation speed of the generator is more accurate.
Then, calculating instantaneous rotating speed acceleration based on the rotating speed of the current sampling period and the rotating speed of the previous period; the specific calculation formula is as follows:
instantaneous rpm acceleration is (current sampling period rpm-last period rpm)/sampling period.
Specifically, in practical application, for convenience of calculation, when the obtained generator speed is calculated, the generator speed data in rpm may be first converted into the generator speed data expressed in radians, and then the instantaneous acceleration and the current acceleration may be calculated according to the generator speed.
And finally, carrying out mean value filtering processing on the instantaneous rotating speed acceleration to obtain the current rotating speed acceleration. And carrying out mean value filtering processing on the instantaneous rotating speed acceleration obtained by the calculation in the previous step again to obtain the current rotating speed acceleration. And (5) carrying out average filtering on the instantaneous rotating speed and acceleration, and similarly adopting 500ms average filtering.
In one embodiment, the step of determining the pitch superposition angle value to be superposed when the pitch is changed based on the current rotational speed acceleration and a pre-constructed rotational speed acceleration-pitch superposition angle curve includes:
inquiring a variable pitch superposition angle corresponding to the current rotating speed acceleration in a pre-constructed rotating speed acceleration-variable pitch superposition angle curve based on the current rotating speed acceleration;
and determining the pitch variation superposition angle obtained by query as a pitch variation superposition angle value to be superposed when the pitch variation is carried out.
In one embodiment, determining the actual pitch angle based on the current rotational speed acceleration, the determined pitch stack angle value, and the pre-stored correspondence between the rotational speed acceleration and the pitch angle comprises:
obtaining an initial pitch variation angle under the current rotating speed acceleration according to the current rotating speed acceleration and a corresponding relation between the pre-stored rotating speed acceleration and the pitch variation angle;
and adding the determined pitch superposition angle value and the initial pitch angle to obtain an actual pitch angle.
To sum up, the embodiment of the invention provides a pitch control method for a wind generating set, which includes the steps of firstly obtaining the current rotating speed acceleration of the wind generating set based on the rotating speed of a generator of the wind generating set; then judging whether the current rotating speed acceleration exceeds the preset rotating speed acceleration or not; if the current rotating speed acceleration exceeds the preset rotating speed acceleration, determining a pitch angle superposition value which needs to be additionally superposed during pitch variation based on the current rotating speed acceleration and a pre-constructed rotating speed acceleration-pitch angle superposition curve; determining an actual variable pitch angle based on the current rotating speed acceleration, the determined variable pitch angle superposition value and a corresponding relation between the pre-stored rotating speed acceleration and the variable pitch angle; and finally, generating a variable pitch control signal based on the determined actual variable pitch angle so as to control the variable pitch of the wind generating set. In the embodiment, the variable pitch control is performed on the generator set based on the rotating speed acceleration of the generator, when the rotating speed of the generator is identified to be increased too fast (namely the current rotating speed acceleration exceeds the preset rotating speed acceleration), a variable pitch angle superposition value obtained through calculation of simulation operation data is additionally superposed on the basis of the variable pitch angle corresponding to the original control strategy, and the superposed variable pitch angle is used as the actual variable pitch angle to generate a corresponding variable pitch control signal to perform the variable pitch control on the wind generating set, so that if the wind generating set is in a low rotating speed interval, the wind generating set can be changed in advance in a variable pitch angle superposition mode, and the rotating speed increasing rate is controlled; if the wind generating set is in a high rotating speed interval, the pitch variation of the wind generating set can be accelerated by a mode of superposing pitch variation angles, so that the whole wind energy utilization coefficient of the wind generating set is reduced, the problem that the rotating speed of a generator rises rapidly to reach N3 overspeed due to untimely pitch variation or low pitch variation speed in the stage of rapid rise of the wind speed is prevented, and the load of the set is effectively reduced.
As shown in fig. 7, an embodiment of the present invention further provides a pitch control system of a wind turbine generator system, where the system may include:
and the acceleration calculation module 301 is configured to obtain a current rotation speed acceleration of the wind generating set based on a generator rotation speed of the wind generating set.
When the pitch control is carried out on the wind generating set, the current rotating speed acceleration of the wind generating set is firstly calculated according to the real-time rotating speed of the wind generating set, wherein the real-time rotating speed of the wind generating set can be detected through rotating speed measuring elements such as a rotating speed sensor arranged on a generator, the rotating speed of a wind wheel can also be measured through the rotating speed measuring elements arranged on the wind wheel, and then the real-time rotating speed of the wind generator is calculated according to the transmission ratio of a transmission mechanism between the wind wheel and the generator.
The determining module 302 is configured to determine whether the current rotational speed acceleration exceeds a preset rotational speed acceleration.
And after the current rotating speed acceleration of the wind generating set is obtained through calculation, comparing the current rotating speed acceleration with a preset rotating speed acceleration stored in advance, and judging whether the current rotating speed acceleration exceeds the preset rotating speed acceleration or not. Specifically, the preset rotating speed and acceleration can be obtained by processing the equipment parameters of the wind generating set or simulation operation data of the wind generating set, or by performing simulation experiments on each operation condition of the wind generating set. Whether the current wind speed is in a rapid rising stage or not is identified by comparing the current rotating speed acceleration with the preset rotating speed acceleration, so that whether the rotating speed of the generator exceeds the speed limit or not is judged in advance.
And the pitch angle superposition value determining module 303 is configured to determine, when the current rotational speed acceleration exceeds the preset rotational speed acceleration, a pitch angle superposition value that needs to be additionally superposed when pitch is changed based on the current rotational speed acceleration and a pre-constructed rotational speed acceleration-pitch superposition angle curve.
When the current rotating speed acceleration exceeds the preset rotating speed acceleration, the current wind speed is indicated to be in a rapid rising stage, corresponding variable pitch control needs to be carried out on the wind generating set, and at the moment, a variable pitch angle superposition value needing to be additionally superposed during variable pitch is determined according to the current rotating speed acceleration and a rotating speed acceleration-variable pitch superposition angle curve constructed in advance.
And the actual pitch angle determining module 304 is configured to determine an actual pitch angle based on the current rotational speed acceleration, the determined pitch angle superposition value, and a pre-stored correspondence between the rotational speed acceleration and the pitch angle.
After the additional stacked variable pitch angle stacking value required during variable pitch is determined, the actual variable pitch angle is determined according to the current rotating speed acceleration, the variable pitch angle stacking value and the corresponding relation between the pre-stored rotating speed acceleration and the variable pitch angle, and the actual variable pitch angle is the variable pitch angle which is actually generated by the wind turbine blade and is used for controlling a variable pitch system of the wind turbine generator set to execute a variable pitch instruction at the current time. The prestored corresponding relation between the rotating speed acceleration and the variable pitch angle refers to the corresponding relation between the rotating speed acceleration and the variable pitch angle of other control strategies set in the control of the wind generating set before the control strategy is executed.
And a pitch control signal generating module 305 for generating a pitch control signal based on the determined actual pitch angle to control the wind generating set to pitch.
And finally, generating a control signal according to the determined actual pitch variation angle, and controlling the pitch variation of the wind generating set by a power speed controller in the pitch variation control system through the control signal, so that the advanced pitch variation is realized when the wind generating set is in a low rotating speed interval, the quick pitch variation is realized when the wind generating set is in a high rotating speed interval, and the overspeed problem caused by the quick rise of the rotating speed of the generator is avoided by controlling the rising speed of the rotating speed.
In one embodiment, the wind turbine generator set pitch control system further comprises a curve construction module 300 for constructing a rotational speed acceleration-pitch superposition angle curve, wherein,
as shown in fig. 8, the curve building block 300 includes:
the scatter distribution diagram drawing unit 3001 is configured to obtain a pitch angle-rotational speed acceleration scatter distribution diagram of a first preset working condition and a second preset working condition based on simulation operation data of the wind turbine generator system under different working conditions.
When a rotational speed acceleration-variable pitch superposition angle curve is constructed, firstly, a variable pitch angle-rotational speed acceleration scattering point distribution diagram under a first preset working condition and a second preset working condition is drawn according to simulation operation data of a generator set under different working conditions.
It should be noted that the first preset working condition and the second preset working condition are different operation working conditions of the wind turbine generator system. Specifically, in this embodiment, the first preset operating condition is a normal operating condition of the wind turbine generator system, and the second preset operating condition is an extreme turbulence operating condition.
As shown in fig. 3, in a specific example of the present invention, a pitch angle-rotational speed acceleration dispersion point distribution diagram of a first preset working condition and a second preset working condition is obtained according to simulation operation data of a certain 2.5MW type wind turbine generator set under different working conditions, where an abscissa represents a pitch angle (unit is degree) and an ordinate represents a rotational speed acceleration (unit is radian per square meter second), where the first preset working condition is a normal operating working condition (i.e., DLC1.2 working condition on the way), and the second preset working condition is an extreme turbulence working condition (i.e., DLC1.3 working condition in the diagram). Specifically, in this embodiment, the simulation of the wind turbine generator system under different working conditions is specifically implemented by using blanked simulation software.
The first functional relation generation unit 3002 is configured to obtain a first functional relation capable of reflecting a correlation between a pitch angle and a rotational speed acceleration under a first preset condition according to a pitch angle-rotational speed acceleration outer contour line of the first preset condition in the pitch angle-rotational speed acceleration scatter distribution diagram.
By adopting a boundary condition analysis method, extracting characteristic points (namely convex points on the outer contour line) after deleting the extreme points of the outer contour line of the variable pitch angle-rotating speed acceleration under the first preset working condition in the scatter point distribution diagram, so that the linear function of the lines sequentially connecting the characteristic points is monotonically increased, and the first function relation formula taking the rotating speed acceleration as an independent variable and the variable pitch angle as a dependent variable is obtained.
The second functional relation generation unit 3003 is configured to obtain a second functional relation capable of reflecting a correlation between the pitch angle and the rotational speed acceleration under a second preset condition according to a pitch angle-rotational speed acceleration outer contour line of the second preset condition in the pitch angle-rotational speed acceleration scatter distribution diagram.
By adopting a boundary condition analysis method, extracting characteristic points (namely convex points on the outer contour line) after deleting the extreme points of the outer contour line of the variable pitch angle-rotating speed acceleration under the second preset working condition in the scatter point distribution diagram, so that the linear function of the lines sequentially connecting the characteristic points is monotonically increased, and a second function relation formula taking the rotating speed acceleration as an independent variable and the variable pitch angle as a dependent variable is obtained.
The pitch angle difference calculation unit 3004 is configured to obtain a plurality of pitch angle differences between the first preset working condition and the second preset working condition at different rotational speeds and accelerations according to the first functional relation and the second functional relation.
Then, calculating a variable pitch angle value under the same rotating speed acceleration according to the first functional relation and the second functional relation, subtracting two corresponding variable pitch angle values obtained by solving the two functional relations to obtain a variable pitch angle difference value under the rotating speed acceleration, and respectively calculating the variable pitch angle difference value between a first preset working condition and a second preset working condition under different accelerations by adopting the same method to obtain a plurality of variable pitch angle difference values.
The pitch variation superposition angle calculating unit 3005 is configured to compare the pitch variation angle difference with the first pitch variation angle calculated according to the first functional relation and at the same rotational speed acceleration, and set the smaller of the pitch variation angle difference and the first pitch variation angle as the pitch variation superposition angle at the rotational speed acceleration.
And then, comparing the variable pitch angle difference with a first variable pitch angle under the same rotating speed acceleration calculated according to the first function relation, and setting the smaller of the variable pitch angle difference and the first variable pitch angle as a variable pitch superposition angle under the rotating speed acceleration. In this embodiment, as shown in fig. 3, since the first pitch angle of the normal operation condition (DLC1.2 condition) under the same rotational speed acceleration calculated according to the first functional relation is the smaller of the two, the first pitch angle of the DLC1.2 condition under the same rotational speed acceleration calculated according to the first functional relation is used as the pitch superposition angle.
The table generating unit 3006 is configured to obtain a rotation speed acceleration-pitch variation superposition angle correspondence table according to a correspondence relationship between the pitch variation superposition angle and the rotation speed acceleration under different rotation speed accelerations.
And then, after the corresponding variable pitch superposition angles under different accelerations are obtained through calculation in the previous step, obtaining a rotating speed acceleration-variable pitch superposition angle corresponding table according to the corresponding relation between the variable pitch superposition angles and the rotating speed accelerations under different rotating speed accelerations. In this embodiment, the rotational speed acceleration-pitch variation superposition angle correspondence table is shown in the following table.
Figure BDA0003328402740000211
The curve drawing unit 3007 is configured to draw a rotational speed acceleration-pitch variation superposition angle curve according to the rotational speed acceleration-pitch variation superposition angle correspondence table.
And finally, drawing each point in a rectangular coordinate system by taking the rotating speed acceleration in the table as a horizontal coordinate and the variable pitch superposition angle as a vertical coordinate according to the rotating speed acceleration-variable pitch superposition angle corresponding table obtained in the last step, and connecting two adjacent points in sequence by using a straight line to obtain a rotating speed acceleration-variable pitch superposition angle curve. In this embodiment, a rotational speed acceleration-pitch angle superposition angle curve obtained according to the above table is shown in fig. 4. As can be seen from fig. 4, when the rotational speed acceleration is 3, the pitch angle is additionally superimposed on the basis of the pitch angle corresponding to the original control strategy when the pitch is changed, that is, the pitch superimposed angle corresponding to the rotational speed acceleration is superimposed, and the superimposed pitch angle is used as the actual pitch angle expected to be obtained to generate the pitch control signal. In this implementation, when the rotational speed acceleration is 3, the pitch superposition angle starts to be additionally superposed when the pitch is changed, that is, the rotational speed acceleration is preset to be 3.
In one embodiment, the acceleration calculation module 301 includes:
the generator rotating speed acquisition unit is used for acquiring the generator rotating speed of the wind generating set;
the generator rotating speed processing unit is used for carrying out mean value filtering processing on the rotating speed of the generator to obtain the rotating speed of the current sampling period and the rotating speed of the previous sampling period; specifically, in this embodiment, the sampling period of the controller sampling the rotation speed of the generator is 10ms, the average filtering processing employs 500ms average filtering, and experiments prove that when the sampling period of the controller is 10ms, the 500ms average filtering is employed to process the rotation speed of the generator, and the obtained processed rotation speed of the generator is more accurate.
The instantaneous acceleration computing unit is used for computing instantaneous rotating speed acceleration based on the rotating speed of the current sampling period and the rotating speed of the previous period; the specific calculation formula is as follows:
instantaneous rpm acceleration is (current sampling period rpm-last period rpm)/sampling period.
Specifically, in practical application, for convenience of calculation, when the obtained generator speed is calculated, the generator speed data in rpm may be first converted into the generator speed data expressed in radians, and then the instantaneous acceleration and the current acceleration may be calculated according to the generator speed.
And finally, carrying out mean value filtering processing on the instantaneous rotating speed acceleration to obtain the current rotating speed acceleration. And carrying out mean value filtering processing on the instantaneous rotating speed acceleration obtained by the calculation in the previous step again to obtain the current rotating speed acceleration. And (5) carrying out average filtering on the instantaneous rotating speed and acceleration, and similarly adopting 500ms average filtering.
And the rotating speed acceleration filtering unit is used for carrying out mean value filtering processing on the instantaneous rotating speed acceleration to obtain the current rotating speed acceleration. And carrying out mean value filtering processing on the instantaneous rotating speed acceleration obtained by the calculation in the previous step again to obtain the current rotating speed acceleration. And (5) carrying out average filtering on the instantaneous rotating speed and acceleration, and similarly adopting 500ms average filtering.
In one embodiment, pitch angle summation value determination module 303 includes:
the variable pitch superposition angle query unit is used for querying a variable pitch superposition angle corresponding to the current rotating speed acceleration in a pre-constructed rotating speed acceleration-variable pitch superposition angle curve based on the current rotating speed acceleration when the current rotating speed acceleration exceeds the preset rotating speed acceleration;
and the pitch variation superposition angle determining unit is used for determining the searched pitch variation superposition angle as the pitch variation superposition angle value to be superposed when the pitch is changed.
In one embodiment, actual pitch angle determination module 304 includes:
the initial pitch angle acquisition unit is used for obtaining an initial pitch angle under the current rotating speed acceleration according to the current rotating speed acceleration and the corresponding relation between the pre-stored rotating speed acceleration and the pitch angle;
and the actual pitch angle calculating unit is used for adding the determined pitch superposition angle value and the initial pitch angle to obtain an actual pitch angle.
To sum up, the embodiment of the invention provides a pitch control system of a wind generating set, and the current rotating speed acceleration of the wind generating set is obtained through an acceleration calculation module 301 based on the rotating speed of the generator of the wind generating set; then, whether the current rotating speed acceleration exceeds the preset rotating speed acceleration is judged through a judging module 302; then, when the current rotating speed acceleration exceeds the preset rotating speed acceleration, a variable pitch angle superposition value which needs to be additionally superposed during variable pitch is determined based on the current rotating speed acceleration and a pre-constructed rotating speed acceleration-variable pitch superposition angle curve through a variable pitch angle superposition value determining module 303; then, determining an actual pitch angle through an actual pitch angle determining module 304 based on the current rotational speed acceleration, the determined pitch angle superposition value and a corresponding relation between the pre-stored rotational speed acceleration and the pitch angle; finally, a variable pitch control signal is generated through a variable pitch control signal generation module 305 based on the determined actual variable pitch angle so as to control the variable pitch of the wind generating set. In the embodiment, the variable pitch control is performed on the generator set based on the rotating speed acceleration of the generator, when the rotating speed of the generator is identified to be increased too fast (namely the current rotating speed acceleration exceeds the preset rotating speed acceleration), a variable pitch angle superposition value obtained through calculation of simulation operation data is additionally superposed on the basis of the variable pitch angle corresponding to the original control strategy, and the superposed variable pitch angle is used as the actual variable pitch angle to generate a corresponding variable pitch control signal to perform the variable pitch control on the wind generating set, so that if the wind generating set is in a low rotating speed interval, the wind generating set can be changed in advance in a variable pitch angle superposition mode, and the rotating speed increasing rate is controlled; if the wind generating set is in a high rotating speed interval, the pitch variation of the wind generating set can be accelerated by a mode of superposing pitch variation angles, so that the whole wind energy utilization coefficient of the wind generating set is reduced, the problem that the rotating speed of a generator rises rapidly to reach N3 overspeed due to untimely pitch variation or low pitch variation speed in the stage of rapid rise of the wind speed is prevented, and the load of the set is effectively reduced.
In this embodiment, if the integrated module/unit of the pitch control system of the wind turbine generator system is implemented in the form of a software functional unit and sold or used as an independent product, the integrated module/unit may be stored in a computer-readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A pitch control method of a wind generating set is characterized by comprising the following steps:
obtaining the current rotating speed acceleration of the wind generating set based on the rotating speed of the generator of the wind generating set;
judging whether the current rotating speed acceleration exceeds a preset rotating speed acceleration or not;
if the current rotating speed acceleration exceeds the preset rotating speed acceleration, determining a variable pitch angle superposition value needing to be additionally superposed during variable pitch based on the current rotating speed acceleration and a pre-constructed rotating speed acceleration-variable pitch superposition angle curve;
determining an actual variable pitch angle based on the current rotating speed acceleration, the determined variable pitch angle superposition value and a corresponding relation between the pre-stored rotating speed acceleration and the variable pitch angle;
and generating a variable pitch control signal based on the determined actual variable pitch angle to control the variable pitch of the wind generating set.
2. The wind turbine generator system pitch control method of claim 1, further comprising the step of constructing a rotational speed acceleration-pitch angle superposition angle curve, wherein,
the step of constructing the rotational speed acceleration-variable pitch superposition angle curve comprises the following steps of:
obtaining a variable pitch angle-rotating speed acceleration dispersion point distribution diagram of a first preset working condition and a second preset working condition based on simulation operation data of the wind generating set under different working conditions;
obtaining a first function relation which can reflect the correlation between the variable pitch angle and the rotating speed acceleration under the first preset working condition according to the variable pitch angle-rotating speed acceleration outer contour line of the first preset working condition in the variable pitch angle-rotating speed acceleration scatter distribution diagram;
obtaining a second function relation which can reflect the correlation between the variable pitch angle and the rotating speed acceleration under a second preset working condition according to the variable pitch angle-rotating speed acceleration outer contour line of the second preset working condition in the variable pitch angle-rotating speed acceleration scatter distribution diagram;
obtaining a plurality of variable pitch angle difference values between a first preset working condition and a second preset working condition under different rotating speed accelerations according to the first functional relation and the second functional relation;
comparing the variable pitch angle difference with a first variable pitch angle under the same rotating speed acceleration calculated according to the first function relation, and setting the smaller of the variable pitch angle difference and the first variable pitch angle as a variable pitch superposition angle under the rotating speed acceleration;
obtaining a rotating speed acceleration-variable pitch superposition angle corresponding table according to the corresponding relation between the variable pitch superposition angle and the rotating speed acceleration under different rotating speed accelerations;
and drawing the curve of the rotating speed acceleration-variable pitch superposition angle according to the corresponding table of the rotating speed acceleration-variable pitch superposition angle.
3. The wind generating set pitch control method according to claim 1 or 2, wherein the obtaining of the current rotational speed acceleration of the wind generating set based on the generator rotational speed of the wind generating set comprises:
acquiring the rotating speed of a generator of the wind generating set;
carrying out mean value filtering processing on the rotating speed of the generator to obtain the rotating speed of the current sampling period and the rotating speed of the previous sampling period;
calculating instantaneous rotating speed acceleration based on the rotating speed of the current sampling period and the rotating speed of the previous period;
and carrying out mean value filtering processing on the instantaneous rotating speed acceleration to obtain the current rotating speed acceleration.
4. The method for controlling the pitch of the wind generating set according to claim 1 or 2, wherein the determining the pitch superposition angle value to be superposed when the pitch is changed based on the current rotational speed acceleration and a pre-constructed rotational speed acceleration-pitch superposition angle curve comprises:
inquiring a variable pitch superposition angle corresponding to the current rotating speed acceleration in the pre-constructed rotating speed acceleration-variable pitch superposition angle curve based on the current rotating speed acceleration;
and determining the pitch variation superposition angle obtained by query as the pitch variation superposition angle value to be superposed when the pitch variation is carried out.
5. The wind generating set pitch control method according to claim 1 or 2, wherein the determining an actual pitch angle based on the current rotational speed acceleration, the determined pitch stack angle value, and a pre-stored correspondence between the rotational speed acceleration and the pitch angle comprises:
obtaining an initial pitch variation angle under the current rotating speed acceleration according to the current rotating speed acceleration and a corresponding relation between the pre-stored rotating speed acceleration and the pitch variation angle;
and adding the determined pitch superposition angle value and the initial pitch angle to obtain the actual pitch angle.
6. A wind generating set pitch control system, the system comprising:
the acceleration calculation module is used for obtaining the current rotating speed acceleration of the wind generating set based on the rotating speed of the generator of the wind generating set;
the judging module is used for judging whether the current rotating speed acceleration exceeds a preset rotating speed acceleration or not;
the pitch angle superposition value determining module is used for determining a pitch angle superposition value which needs to be additionally superposed during pitch variation based on the current rotating speed acceleration and a pre-constructed rotating speed acceleration-pitch superposition angle curve when the current rotating speed acceleration exceeds the preset rotating speed acceleration;
the actual variable pitch angle determining module is used for determining an actual variable pitch angle based on the current rotating speed acceleration, the determined variable pitch angle superposition value and the corresponding relation between the pre-stored rotating speed acceleration and the variable pitch angle;
and the variable pitch control signal generating module is used for generating variable pitch control signals based on the determined actual variable pitch angle so as to control the variable pitch of the wind generating set.
7. The wind turbine generator set pitch control system of claim 6, further comprising a curve construction module for constructing the rotational speed acceleration-pitch angle stack angle curve, wherein,
the curve building module comprises:
the scatter distribution diagram drawing unit is used for obtaining a variable pitch angle-rotating speed acceleration scatter distribution diagram of a first preset working condition and a second preset working condition based on simulation operation data of the wind generating set under different working conditions;
the first function relation generation unit is used for obtaining a first function relation which can reflect the correlation between the variable pitch angle and the rotating speed acceleration under the first preset working condition according to the variable pitch angle-rotating speed acceleration outer contour line of the first preset working condition in the variable pitch angle-rotating speed acceleration scatter distribution diagram;
the second function relation generation unit is used for obtaining a second function relation which can reflect the correlation between the variable pitch angle and the rotating speed acceleration under a second preset working condition according to the variable pitch angle-rotating speed acceleration outer contour line of the second preset working condition in the variable pitch angle-rotating speed acceleration scatter distribution diagram;
the variable pitch angle difference value calculation unit is used for obtaining a plurality of variable pitch angle difference values between a first preset working condition and a second preset working condition under different rotating speed accelerations according to the first functional relation formula and the second functional relation formula;
the pitch variation superposition angle calculation unit is used for comparing the pitch variation angle difference with a first pitch variation angle under the same rotating speed acceleration calculated according to the first function relation, and setting the smaller of the pitch variation angle difference and the first pitch variation angle as the pitch variation superposition angle under the rotating speed acceleration;
the table generating unit is used for obtaining a rotating speed acceleration-variable pitch superposition angle corresponding table according to the corresponding relation between the variable pitch superposition angle and the rotating speed acceleration under different rotating speed accelerations;
and the curve drawing unit is used for drawing the rotating speed acceleration-variable pitch superposition angle curve according to the rotating speed acceleration-variable pitch superposition angle corresponding table.
8. The wind turbine generator set pitch control system of claim 6 or 7, wherein the acceleration calculation module comprises:
the generator rotating speed acquisition unit is used for acquiring the generator rotating speed of the wind generating set;
the generator rotating speed processing unit is used for carrying out mean value filtering processing on the generator rotating speed to obtain a current sampling period rotating speed and a last sampling period rotating speed;
the instantaneous acceleration calculating unit is used for calculating instantaneous rotating speed acceleration based on the rotating speed of the current sampling period and the rotating speed of the previous period;
and the rotating speed acceleration filtering unit is used for carrying out mean value filtering processing on the instantaneous rotating speed acceleration to obtain the current rotating speed acceleration.
9. The wind turbine generator set pitch control system of claim 6 or 7, wherein the pitch angle summation value determination module comprises:
the variable pitch superposition angle query unit is used for querying a variable pitch superposition angle corresponding to the current rotating speed acceleration in the pre-constructed rotating speed acceleration-variable pitch superposition angle curve based on the current rotating speed acceleration when the current rotating speed acceleration exceeds the preset rotating speed acceleration;
and the pitch variation superposition angle determining unit is used for determining the searched pitch variation superposition angle as the pitch variation superposition angle value to be superposed when the pitch variation is carried out.
10. The wind turbine generator set pitch control system of claim 6 or 7, wherein the actual pitch angle determination module comprises:
the initial pitch angle acquisition unit is used for obtaining an initial pitch angle under the current rotating speed acceleration according to the current rotating speed acceleration and the corresponding relation between the pre-stored rotating speed acceleration and the pitch angle;
and the actual pitch angle calculating unit is used for adding the determined pitch superposition angle value and the initial pitch angle to obtain the actual pitch angle.
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CN103527405A (en) * 2013-01-17 2014-01-22 成都阜特科技股份有限公司 Double-fed type wind generating set variable pitch control method
CN110529335A (en) * 2019-09-29 2019-12-03 三一重能有限公司 Control method and wind power generating set for inhibiting blower to exceed the speed limit
CN111828246A (en) * 2019-04-23 2020-10-27 新疆金风科技股份有限公司 Wind generating set overspeed prevention control method and device and storage medium

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100129215A1 (en) * 2008-11-21 2010-05-27 Preus Robert W System for providing dynamic pitch control in a wind turbine
CA2733466A1 (en) * 2010-03-10 2011-09-10 Siemens Aktiengesellschaft Rotational speed control of a wind turbine based on rotor acceleration
CN103527405A (en) * 2013-01-17 2014-01-22 成都阜特科技股份有限公司 Double-fed type wind generating set variable pitch control method
CN111828246A (en) * 2019-04-23 2020-10-27 新疆金风科技股份有限公司 Wind generating set overspeed prevention control method and device and storage medium
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