CN114151275B - Variable pitch control method of wind generating set - Google Patents

Variable pitch control method of wind generating set Download PDF

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Publication number
CN114151275B
CN114151275B CN202010934725.3A CN202010934725A CN114151275B CN 114151275 B CN114151275 B CN 114151275B CN 202010934725 A CN202010934725 A CN 202010934725A CN 114151275 B CN114151275 B CN 114151275B
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speed
generator
percentage
preset
over
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CN114151275A (en
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刘忠朋
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Jinfeng Technology Co ltd
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Jinfeng Technology 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
    • 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
    • F05B2270/70—Type of control algorithm
    • F05B2270/707—Type of control algorithm fuzzy logic
    • 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 embodiment of the invention provides a variable pitch control method of a wind generating set. The pitch control method comprises the following steps: acquiring the overspeed percentage and the overspeed percentage change rate of the rotating speed of a generator of the wind generating set; based on the obtained over-speed percentage of the generator speed of the wind generating set and the over-speed percentage change rate, an additional pitch rate of the wind generating set is determined by using a fuzzy control method. The additional pitch rate of the wind generating set determined by the method is a continuously variable value, so that the wind generating set is ensured to be capable of reducing the over-speed trend, meanwhile, the vibration of the wind generating set is not caused, and the normal and stable operation of the wind generating set is ensured.

Description

Variable pitch control method of wind generating set
Technical Field
The invention relates to the technical field of wind power generation, in particular to a variable pitch control method of a wind generating set.
Background
The blade group of the wind generating set is usually connected with the generator through a speed increasing gearbox, so that when the wind force is small and the rotating speed of the blades is low, the rotating speed of the generator is increased through the gearbox, and the generating efficiency of the wind generating set is improved; however, in disaster weather such as hurricane, the strong wind increases the rotation speed of the blade set, and thus may cause the generator to rotate at an overspeed, and in the overspeed condition, the generator may be damaged by overload or even burned out, thereby shortening the service life of the wind power generator.
For rotational overspeed, this can be alleviated by pitching the wind turbine. The angle of the blades is adjusted according to the wind speed, and the power factor, namely the rotating speed and the power of the blades are changed by changing the angle of the blades, so that the rotating speed and the load of the generator are adjusted. The overspeed prevention strategy in the prior art takes the rotation speed of the generator and the acceleration of the rotation speed as reference input, and once the rotation speed of the generator and the acceleration of the rotation speed reach corresponding thresholds, a larger speed command is directly overlapped on the pitch angle speed command. The command value is a constant value, so that a jump may occur in the pitch rate, and the jump may cause the wind generating set to generate larger vibration in one direction, thereby threatening the operation safety of the wind generating set.
Disclosure of Invention
The invention aims to provide a pitch control method of a wind generating set, wherein the additional pitch rate of the wind generating set determined by the method is a continuously variable numerical value, so that the wind generating set is ensured to be capable of reducing the overspeed trend, meanwhile, the vibration of the wind generating set is not caused, and the normal and stable operation of the wind generating set is ensured.
In a first aspect, the present invention provides a pitch control method of a wind turbine, where the pitch control method includes: acquiring the overspeed percentage and the overspeed percentage change rate of the rotating speed of a generator of the wind generating set; based on the obtained over-speed percentage of the generator speed of the wind generating set and the over-speed percentage change rate, an additional pitch rate of the wind generating set is determined by using a fuzzy control method.
Optionally, the pitch control method further includes: and controlling the wind generating set to execute the pitching operation based on the determined additional pitching rate of the wind generating set and the preset pitching rate.
Optionally, the step of determining the additional pitch rate of the wind park by using a fuzzy control method comprises: determining the membership degree of the overspeed percentage of the generator rotating speed of the wind generating set relative to a preset overspeed percentage fuzzy set; determining the membership degree of the over-speed percentage change rate of the generator rotating speed of the wind generating set relative to a preset over-speed percentage change rate fuzzy set; based on the membership of the over-speed percentage of the generator speed of the wind generating set with respect to the preset over-speed percentage fuzzy set and the membership of the over-speed percentage change rate of the generator speed of the wind generating set with respect to the preset over-speed percentage change rate fuzzy set, determining the additional pitch rate of the wind generating set by using a preset fuzzy control rule.
Optionally, the step of determining the membership of the overspeed percentage of the generator speed of the wind generating set with respect to the preset overspeed percentage fuzzy set comprises: and determining the membership degree of the overspeed percentage of the generator rotating speed of the wind generating set relative to the preset overspeed percentage fuzzy set based on the overspeed percentage of the generator rotating speed of the wind generating set and a preset overspeed percentage fuzzy set membership degree function.
Optionally, the step of determining the membership of the over-speed percentage change rate of the generator speed of the wind generating set with respect to the preset over-speed percentage change rate fuzzy set comprises: and determining the membership degree of the over-speed percentage change rate of the generator rotating speed of the wind generating set relative to the preset over-speed percentage change rate fuzzy set based on the over-speed percentage change rate of the generator rotating speed of the wind generating set and the preset over-speed percentage change rate fuzzy set membership degree function.
Optionally, the step of determining the additional pitch rate of the wind park by using a preset fuzzy control rule comprises: calculating the membership of the additional pitch rate to the preset additional pitch rate fuzzy set by using a preset fuzzy control rule based on the membership of the overspeed percentage of the generator speed of the wind generating set to the preset overspeed percentage fuzzy set and the membership of the overspeed percentage change rate of the generator speed of the wind generating set to the preset overspeed percentage change rate fuzzy set; and calculating the additional pitch rate of the wind generating set based on the preset additional pitch rate fuzzy set and the membership degree of the additional pitch rate with respect to the preset additional pitch rate fuzzy set.
Optionally, the preset additional pitch rate fuzzy set comprises a plurality of additional pitch rate values.
Optionally, the step of calculating an additional pitch rate of the wind park comprises: and substituting the multiple additional pitch rate values and the membership degree of the corresponding additional pitch rates with respect to the preset additional pitch rate fuzzy set into a preset additional pitch rate calculation formula to calculate the additional pitch rate of the wind generating set.
Optionally, the preset overspeed percentage fuzzy set membership function comprises a normal function.
Optionally, the preset overspeed percentage change rate fuzzy set membership function comprises a normal function.
In another general aspect, there is provided a pitch control device of a wind turbine, the pitch control device comprising: the data acquisition unit is configured to acquire the overspeed percentage of the rotating speed of the generator of the wind generating set and the overspeed percentage change rate; an additional pitch rate determination unit configured to determine an additional pitch rate of the wind turbine generator set by using a fuzzy control method based on the obtained over-speed percentage of the generator rotational speed of the wind turbine generator set and the over-speed percentage change rate.
Optionally, the pitch control device further includes: and a pitch control unit configured to control the wind turbine to perform a pitch operation based on the determined additional pitch rate of the wind turbine and the predetermined pitch rate.
Optionally, the additional pitch rate determination unit is configured to: determining the membership degree of the overspeed percentage of the generator rotating speed of the wind generating set relative to a preset overspeed percentage fuzzy set; determining the membership degree of the over-speed percentage change rate of the generator rotating speed of the wind generating set relative to a preset over-speed percentage change rate fuzzy set; based on the membership of the over-speed percentage of the generator speed of the wind generating set with respect to the preset over-speed percentage fuzzy set and the membership of the over-speed percentage change rate of the generator speed of the wind generating set with respect to the preset over-speed percentage change rate fuzzy set, determining the additional pitch rate of the wind generating set by using a preset fuzzy control rule.
Optionally, the additional pitch rate determination unit is configured to: and determining the membership degree of the overspeed percentage of the generator rotating speed of the wind generating set relative to the preset overspeed percentage fuzzy set based on the overspeed percentage of the generator rotating speed of the wind generating set and a preset overspeed percentage fuzzy set membership degree function.
Optionally, the additional pitch rate determination unit is further configured to: and determining the membership degree of the over-speed percentage change rate of the generator rotating speed of the wind generating set relative to the preset over-speed percentage change rate fuzzy set based on the over-speed percentage change rate of the generator rotating speed of the wind generating set and the preset over-speed percentage change rate fuzzy set membership degree function.
Optionally, the additional pitch rate determination unit is configured to: calculating the membership of the additional pitch rate to the preset additional pitch rate fuzzy set by using a preset fuzzy control rule based on the membership of the overspeed percentage of the generator speed of the wind generating set to the preset overspeed percentage fuzzy set and the membership of the overspeed percentage change rate of the generator speed of the wind generating set to the preset overspeed percentage change rate fuzzy set; and calculating the additional pitch rate of the wind generating set based on the preset additional pitch rate fuzzy set and the membership degree of the additional pitch rate with respect to the preset additional pitch rate fuzzy set.
Optionally, the preset additional pitch rate fuzzy set comprises a plurality of additional pitch rate values.
Optionally, the additional pitch rate determination unit is configured to: and substituting the multiple additional pitch rate values and the membership degree of the corresponding additional pitch rates with respect to the preset additional pitch rate fuzzy set into a preset additional pitch rate calculation formula to calculate the additional pitch rate of the wind generating set.
Optionally, the preset overspeed percentage fuzzy set membership function comprises a normal function.
Optionally, the preset overspeed percentage change rate fuzzy set membership function comprises a normal function.
In another general aspect, there is provided a computer-readable storage medium storing a computer program, which when executed by a processor, implements a pitch control method as described above.
In another general aspect, there is provided a controller of a wind power generation set, the controller comprising: a processor; and a memory storing a computer program which, when executed by the processor, implements a pitch control method as described above.
According to the pitch control method and the pitch control device of the wind generating set, which are disclosed by the embodiment of the invention, the determined additional pitch rate of the wind generating set is a continuously-changing numerical value, so that the wind generating set is ensured to be capable of reducing the overspeed trend, meanwhile, the vibration of the wind generating set is not caused, and the normal and stable operation of the wind generating set is ensured.
Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the general inventive concept.
Drawings
The foregoing and other objects and features of exemplary embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings which illustrate the embodiments by way of example, in which:
FIG. 1 is an overall architecture of fuzzy control in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of a pitch control method according to an embodiment of the invention;
FIG. 3 is a simulation result of an additional pitch rate according to an embodiment of the invention;
FIG. 4 is a block diagram of a pitch control device according to an embodiment of the invention;
FIG. 5 is a block diagram of a controller of a wind turbine according to an embodiment of the present disclosure.
Reference numerals illustrate:
1-rotating speed processing unit, 2-fuzzy control logic, 400-pitch control device, 410-data acquisition unit, 420-additional pitch rate determining unit, 500-controller, 510-processor, 520-memory.
Detailed Description
The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, apparatus, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be apparent after an understanding of the disclosure of the present application. For example, the order of operations described herein is merely an example and is not limited to those set forth herein, but may be altered as will be apparent after an understanding of the disclosure of the present application, except for operations that must occur in a particular order. Furthermore, descriptions of features known in the art may be omitted for clarity and conciseness.
The features described herein may be embodied in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided to illustrate only some of the many possible ways to implement the methods, devices, and/or systems described herein, which will be apparent after an understanding of the present disclosure.
As used herein, the term "and/or" includes any one of the listed items associated as well as any combination of any two or more.
Although terms such as "first," "second," and "third" may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first member, first component, first region, first layer, or first portion referred to in the examples described herein may also be referred to as a second member, second component, second region, second layer, or second portion without departing from the teachings of the examples.
In the description, when an element (such as a layer, region or substrate) is referred to as being "on" another element, "connected to" or "coupled to" the other element, it can be directly "on" the other element, be directly "connected to" or be "coupled to" the other element, or one or more other elements intervening elements may be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" or "directly coupled to" another element, there may be no other element intervening elements present.
The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. Singular forms also are intended to include plural forms unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" specify the presence of stated features, amounts, operations, components, elements, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, amounts, operations, components, elements, and/or combinations thereof.
Unless defined otherwise, 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 disclosure belongs after understanding this disclosure. Unless explicitly so defined herein, terms (such as those defined in a general dictionary) should be construed to have meanings consistent with their meanings in the context of the relevant art and the present disclosure, and should not be interpreted idealized or overly formal.
In addition, in the description of the examples, when it is considered that detailed descriptions of well-known related structures or functions will cause a ambiguous explanation of the present disclosure, such detailed descriptions will be omitted.
Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the embodiments may be implemented in various forms and are not limited to the examples described herein.
The variable pitch control method of the wind generating set provided by the embodiment of the invention uses a fuzzy control method to obtain the continuously-changed additional variable pitch rate based on the fan rotation speed information and the change rate information thereof.
The fan rotation speed information and the change rate information thereof based on the fuzzy control method used in the invention are described below. In the pitch control method of the invention, the fan rotation speed information refers to the overspeed percentage of the rotation speed of the generator, the overspeed percentage= [ (current rotation speed-rated rotation speed)/rated rotation speed ] ×100%, and the corresponding change rate information refers to the change rate of the overspeed percentage.
Traditionally, generator speed uses the filtered speed of the pitch circuit. The generator rotation speed lag is relatively serious after a plurality of filters, particularly a second-order low-pass filter and a tower filter, and for the case of 1.4 extreme gusts, the generator rotation speed rises slowly after the gusts come to be filtered, so that the intervention time of the overspeed prevention function is delayed; at the same time, after the gust, when the actual generator speed has fallen, the additional pitch rate will still provide a larger value, resulting in a too fast fall of the generator speed, which in this stage causes a larger load on the top part of the tower. To solve this problem, it is considered to process the generator rotational speed using an asymmetric moving average. When the rotating speed rises, the rotating speed of the generator is subjected to moving average by adopting a 3s time constant, and when the rotating speed falls, the rotating speed of the generator is subjected to moving average by adopting a 0.2s time constant, so that the auxiliary variable pitch rate of the unit can be reduced rapidly when the rotating speed of the generator falls.
Fig. 1 is an overall architecture of fuzzy control according to an embodiment of the present invention. As shown in fig. 1, the overall architecture of the fuzzy control includes a generator rotational speed processing unit 1 and a fuzzy control logic 2, wherein the generator rotational speed processing unit 1 calculates and outputs an input current generator rotational speed as an over-speed percentage and an over-speed percentage change rate of the generator rotational speed, and then the calculated over-speed percentage and over-speed percentage change rate of the generator rotational speed are input into the fuzzy control logic 2, and the fuzzy control logic 2 determines an additional pitch rate of the wind turbine generator set by using a fuzzy control method based on the over-speed percentage and the over-speed percentage change rate of the generator rotational speed, and then controls the wind turbine generator set to perform a pitch operation based on the determined additional pitch rate and a predetermined pitch rate of the wind turbine generator set. However, the present invention is not limited thereto. The fuzzy control logic may provide the determined additional pitch rate of the wind turbine to the pitch controller, which may then control the wind turbine to perform a pitch operation based on the additional pitch rate of the wind turbine and the predetermined pitch rate. In principle, the calculation of the additional pitch rate is started when both the over-speed percentage and the over-speed percentage change rate are greater than 0.
Fig. 2 is a flowchart illustrating a pitch control method according to an embodiment of the present invention.
Referring to fig. 2, in step S201, an overspeed percentage of a generator speed of a wind turbine generator set and an overspeed percentage change rate are obtained. According to embodiments of the present invention, the generator speed may be obtained in various ways, and then the over-speed percentage of the generator speed and the over-speed percentage change rate may be determined.
In step S202, an additional pitch rate of the wind turbine is determined by using a fuzzy control method based on the obtained over-speed percentage of the generator speed of the wind turbine and the over-speed percentage change rate. Compared with the prior art that the pitch rate jumps, the additional pitch rate of the wind generating set is continuously changed by using the fuzzy control method, so that the wind generating set is stable and safe to operate.
Alternatively, after determining the additional pitch rate of the wind park, the wind park may be controlled to perform a pitch operation based on the determined additional pitch rate of the wind park and a predetermined pitch rate.
Specifically, in step S202, the membership of the over-speed percentage of the generator speed of the wind generating set with respect to the preset over-speed percentage fuzzy set may be first determined, then the membership of the over-speed percentage change rate of the generator speed of the wind generating set with respect to the preset over-speed percentage change rate fuzzy set may be determined, and finally the additional pitch rate of the wind generating set may be determined by using the preset fuzzy control rule based on the membership of the over-speed percentage of the generator speed of the wind generating set with respect to the preset over-speed percentage fuzzy set and the membership of the over-speed percentage change rate of the generator speed of the wind generating set with respect to the preset over-speed percentage change rate fuzzy set. As described above, the membership of the over-speed percentage of the generator speed of the wind turbine with respect to the preset over-speed percentage fuzzy set may be determined based on the over-speed percentage of the generator speed of the wind turbine and a preset over-speed percentage fuzzy set membership function. In addition, the membership degree of the over-speed percentage change rate of the generator rotating speed of the wind generating set relative to the preset over-speed percentage change rate fuzzy set can be determined based on the over-speed percentage change rate of the generator rotating speed of the wind generating set and the preset over-speed percentage change rate fuzzy set membership degree function. The preset overspeed percentage fuzzy set membership function may include a normal function, and the preset overspeed percentage change rate fuzzy set membership function includes a normal function.
According to an embodiment of the present invention, in the step of determining the additional pitch rate of the wind turbine generator set by using the preset fuzzy control rule, the membership of the additional pitch rate with respect to the preset additional pitch rate fuzzy set may be calculated by using the preset fuzzy control rule based on the membership of the overspeed percentage of the generator rotational speed of the wind turbine generator set with respect to the preset overspeed percentage fuzzy set and the membership of the overspeed percentage change rate of the generator rotational speed of the wind turbine generator set with respect to the preset overspeed percentage change rate fuzzy set. Then, an additional pitch rate of the wind turbine may be calculated based on the preset additional pitch rate fuzzy set and the membership of the additional pitch rate with respect to the preset additional pitch rate fuzzy set. Here, as described above, the preset additional pitch rate fuzzy set includes a plurality of additional pitch rate values. Thus, the additional pitch rate of the wind park may be calculated by substituting the plurality of additional pitch rate values and the membership of the respective additional pitch rates with respect to the preset additional pitch rate fuzzy set into a preset additional pitch rate calculation formula.
The following illustrates a method of calculating the additional pitch rate. Specifically, in the step of determining the additional pitch rate of the wind turbine by using the fuzzy control method, a membership of the overspeed percentage of the generator rotational speed of the wind turbine with respect to a preset overspeed percentage fuzzy set is determined, and a membership of the overspeed percentage change rate of the generator rotational speed of the wind turbine with respect to the preset overspeed percentage change rate fuzzy set is determined. For example, the fuzzy sets of the generator speed over-speed percentage and the over-speed percentage change rate may be defined as { PL }, respectively p ，PM p ，PS p ，ZE p }，{PL ω ，PM ω ，PS ω ，ZE ω }, wherein { PL p ，PM p ，PS p ，ZE p Comprises four elements PL p 、PM p 、PS p 、ZE p Each element itself can also be a small set, PL p Indicating a larger over-speed percentage of the generator speed, PM p Indicating a medium percentage of generator speed overspeed, PS p Indicating a smaller over-speed percentage of the generator speed, ZE p Indicating that the generator speed overspeed percentage is close to zero; similarly, { PL ω ，PM ω ，PS ω ，ZE ω Comprises four elements PL ω 、PM ω 、PS ω 、ZE ω Each element itself can also be a small set, PL ω Indicating that the over-speed percentage change rate of the generator speed is larger and PM ω Indicating that the over-speed percentage change rate of the generator speed is medium and PS ω Indicating smaller over-speed percentage change rate of generator rotation speed and ZE ω Indicating that the generator speed percent overspeed is approximately zero. The above fuzzy sets of the over-speed percentage and the over-speed percentage change rate of the generator rotational speed include four elements respectively representing that the over-speed percentage and the over-speed percentage change rate of the generator rotational speed are large, medium, small and near zero, but the present invention is not limited thereto, and the above defined fuzzy sets are merely examples, and a person skilled in the art may define more elements according to actual situations, for example, 3, 5, 6, 7, 8 or more elements to divide the over-speed percentage and the over-speed percentage change rate of the generator rotational speed into more sections to represent the corresponding number of evaluation results. The following will be based on a fuzzy set { PL having four elements p ，PM p ，PS p ，ZE p }、{PL ω ，PM ω ，PS ω ，ZE ω And } describes.
Next, to determine a membership of the over-speed percentage of the generator speed of the wind power generation set with respect to a preset over-speed percentage fuzzy set and to determine a membership of the over-speed percentage change rate of the generator speed of the wind power generation set with respect to a preset over-speed percentage change rate fuzzy set, a membership of the over-speed percentage of the generator speed of the wind power generation set with respect to a preset over-speed percentage fuzzy set is determined based on the over-speed percentage of the generator speed of the wind power generation set and a preset over-speed percentage fuzzy set membership function, and a membership of the over-speed percentage change rate of the generator speed of the wind power generation set with respect to a preset over-speed percentage change rate fuzzy set is determined based on the over-speed percentage change rate of the generator speed of the wind power generation set and the preset over-speed percentage change rate fuzzy set membership function. For example, a membership function of the generator speed over-speed percentage and over-speed percentage change rate with respect to the generator speed over-speed percentage fuzzy set and over-speed percentage change rate fuzzy set defined above, respectively, is defined to determine membership of the generator speed over-speed percentage and over-speed percentage change rate with respect to the generator speed over-speed percentage fuzzy set and over-speed percentage change rate fuzzy set, respectively.
In the present embodiment, the membership functions of the two sets are defined as normal functions, i.e
However, the above membership functions are merely examples, and in the present invention, various membership functions may be defined according to various engineering applications, and different membership functions may be defined for the two sets, respectively.
In the normal membership function defined above, x represents the current generator speed overspeed percentage or the overspeed percentage change rate, a and b are vectors corresponding to fuzzy sets, mu A Representing the membership of the current generator speed over-speed percentage or over-speed percentage change rate with respect to the corresponding fuzzy set. For the generator speed over-speed percentage fuzzy set, a is a fuzzy set { PL } defined according to engineering experience or expert database p ，PM p ，PS p ，ZE p One specific example of }. Specifically, { PL may be taken p ，PM p ，PS p ，ZE p Average values of individual elements in }, e.g., a= [15, 10,5,0]. According to this example, element PL p The average value of (2) is 15, namely the generator speed overspeed percentage is 15%, which means that the threshold value of 15% is defined as the larger generator speed overspeed percentage, and the element PM p The average value of (2) is 10, i.e. the generator speed overspeed percentage is 10%, meaning that the threshold value of 10% is defined as the generator speed overspeed percentage being medium, element PS p The average value of (2) is 5, i.e. the generator speed overspeed percentage is 5%, meaning that the threshold value of 5% is defined as the smaller generator speed overspeed percentage, element ZE p The average value of 0, i.e., the generator speed overspeed percentage is 0%, means that the threshold value of 0% is defined as the generator speed overspeed percentage approaching zero. However, the present invention is not limited thereto, a= [15, 10,5,0]For example only, a may be defined by one skilled in the art as other numerical vectors depending on the actual engineering application. b is the variance of each element in the set, e.g., b= [5,5]Representing each element PL p 、PM p 、PS p 、ZE p The variance of the two values is 5, but the variance is not limited to 5, and a person skilled in the art can define b as other numerical vectors according to practical engineering application.
Assuming that the current generator speed is 5% overspeed, then this value is available according to the membership function, which is affiliated to PL p Membership degree of (C)The result was 0.0183. Similarly available, belonged to PM p Membership degree of (C)0.3679, of PS p Membership degree->1, subject to ZE p Membership degree->0.3679. Namely, the membership degree of the overspeed percentage of the generator rotating speed of the wind generating set relative to the preset overspeed percentage fuzzy set is obtained through the steps.
Similarly, for a fuzzy set of generator overspeed percentage change rates, a= [5,3,1.5,0 ] can be defined]，b＝[1，2，2，2]The membership value of the current generator speed overspeed percentage change rate relative to each element in the fuzzy set can be calculated by the same methodThat is, through the above steps, the product is obtainedThe over-speed percentage change rate of the generator speed to the wind generating set is related to the membership of the fuzzy set of the preset over-speed percentage change rate.
Next, an additional pitch rate of the wind turbine generator set is determined by using a preset fuzzy control rule based on a membership of the overspeed percentage of the generator speed of the wind turbine generator set to a preset overspeed percentage fuzzy set and a membership of the overspeed percentage change rate of the generator speed of the wind turbine generator set to a preset overspeed percentage change rate fuzzy set.
Specifically, first, an additional pitch rate fuzzy set { PL for a wind turbine generator set is similarly defined out ，PM out ，PS out ，ZE out }, wherein { PL out ，PM out ，PS out ，ZE out Comprises four elements PL out 、PM out 、PS out 、ZE out Each element itself can also be a small set, PL out Indicating a greater additional pitch rate, PM out Representing a moderate additional pitch rate, PS out Indicating that the additional pitch rate is smaller, ZE out Indicating that the additional pitch rate is near zero. The above additional pitch rate ambiguity set includes four elements, but the present invention is not limited thereto, and the above-defined ambiguity set is merely an example, and a person skilled in the art may define more elements according to the actual situation, for example, 3, 5, 6, 7, 8 or more elements may be defined to divide the additional pitch rate into more sections to represent a corresponding number of evaluation results. The following will be based on a fuzzy set { PL having four elements out ，PM out ，PS out ，ZE out And } describes.
In actually calculating the additional pitch rate { PL } can be taken out ，PM out ，PS out ，ZE out Average values of individual elements in }, e.g., { PL out ，PM out ，PS out ，ZE out The specific value of [2.5,0.75,0.15,0 ]]Representing element PL out Is 2.5 deg./s, i.e. the additional pitch rate is 2.5 deg./sDegree/s, defined as additional pitch rate greater, PM out The average value of (a) is 0.75 DEG/s, i.e. the additional pitch rate is 0.75 DEG/s, defined as the additional pitch rate is medium, PS out The average value of (2) is 0.15 DEG/s, i.e. the additional pitch rate is 0.15 DEG/s, defined as the additional pitch rate being smaller, ZE out The average value of (2) is 0/s, i.e. the additional pitch rate is 0/s, defined as the additional pitch rate being close to zero. However, the present invention is not limited thereto, { PL out ，PM out ，PS out ，ZE out Any other specific value may be used. For example, one skilled in the art may adapt { PL according to actual engineering applications out ，PM out ，PS out ，ZE out Other values are defined. Similarly, the additional pitch rate is affiliated with PL out Is defined as PL r Membership of additional pitch rate to PM out Is defined as PM r Membership of additional pitch rate to PS out Is defined as PS r Membership of additional pitch rate to ZE out Is defined as ZE r That is, the membership set for the additional pitch rate is { PL r ，PM r ，PS r ，ZE r }。
In the step of determining the additional pitch rate of the wind park by using a preset fuzzy control rule, the fuzzy control rule is defined. For example, from the characteristic curve of the wind power plant, the following fuzzy control rules can be derived:
1. if the generator overspeed percentage change rate is affiliated to PL ω Membership degree of (C)And the generator overspeed percentage is belted to PS p Membership of +.>Then the additional pitch rate is affiliated to PL out Membership degree PL of (C) r1 Is thatWherein (1)>Representation->And->The minimum of (2) is the same as follows;
2. if the generator overspeed percentage change rate is affiliated to PL ω Membership degree of (C)And the generator overspeed percentage is belted to ZE p Membership of +.>Then the additional pitch rate is affiliated to PL out Membership degree PL of (C) r2 Is that
3. If the generator overspeed percentage change rate is affiliated to PL ω Membership degree of (C)And the generator overspeed percentage is belted to PL p Membership of +.>Then the additional pitch rate is affiliated to PM out Membership degree PM of (1) r1 Is that
4. If the generator overspeed percentage change rate is affiliated to PL ω Membership degree of (C)And the generator overspeed percentage is belted to PM p Membership of +.>Then the additional pitch rate is affiliated to PM out Membership degree PM of (1) r2 Is that
5. If the generator overspeed percentage change rate is affiliated to PM ω Membership degree of (C)And the generator overspeed percentage is belted to PS p Membership of +.>Then the additional pitch rate is affiliated to PM out Membership degree PM of (1) r3 Is that
6. If the generator overspeed percentage change rate is affiliated to PM ω Membership degree of (C)And the generator overspeed percentage is belted to PL p Membership of +.>Then the additional pitch rate is affiliated to PS out Membership degree PS of (C) r1 Is that
7. If the generator overspeed percentage change rate is affiliated to PM ω Membership degree of (C)And the generator overspeed percentage is belted to PM p Membership of +.>Then the additional pitch rate is affiliated to PS out Membership degree PS of (C) r2 Is that
8. If the generator overspeed percentage change rate is affiliated to PM ω Membership degree of (C)And the generator overspeed percentage is belted to ZE p Membership of +. >Then the additional pitch rate is affiliated to PS out And degree of membership PS r3 Is that
9. If the generator overspeed percentage change rate is affiliated to PS ω Membership degree of (C)And the generator overspeed percentage is belted to PM p Membership of +.>Then the additional pitch rate is affiliated to PS out And degree of membership PS r4 Is that
10. If the generator overspeed percentage change rate is affiliated to PS ω Membership degree of (C)And the generator overspeed percentage is belted to PS p Membership of +.>Then the additional pitch rate is affiliated to PS out Membership degree PS of (C) r5 Is that
11. If the generator overspeed percentage change rate is affiliated to PS ω Membership degree of (C)And the generator overspeed percentage is belted to PL p Membership of +.>Then the additional pitch rate is affiliated to ZE out Membership ZE of (C) r1 Is that
12. If the generator overspeed percentage change rate is affiliated to PS ω Membership degree of (C)And the generator overspeed percentage is belted to ZE p Membership of +.>Then the additional pitch rate is affiliated to ZE out Membership ZE of (C) r2 Is that
13. If the generator overspeed percentage change rate is affiliated to ZE ω Membership degree of (C)And the generator overspeed percentage is belted to PL p Membership of +.>Then the additional pitch rate is affiliated to ZE out Membership ZE of (C) r3 Is that
14. If the generator overspeed percentage change rate is affiliated to ZE ω Membership degree of (C) And the generator overspeed percentage is belted to PM p Membership of +.>Then the additional pitch rate is affiliated to ZE out Membership ZE of (C) r4 Is that
15. If the generator overspeed percentage change rate is affiliated to ZE ω Membership degree of (C)And the generator overspeed percentage is belted to PS p Membership of +.>Then the additional pitch rate is affiliated to ZE out Membership ZE of (C) r5 Is that
16. If the generator overspeed percentage change rate is affiliated to ZE ω Membership degree of (C)And the generator overspeed percentage is belted to ZE p Membership of +.>Additional pitch speedThe rate is belonged to ZE out Membership ZE of (C) r6 Is that
That is, different membership of the additional pitch rate to the additional pitch rate fuzzy set is derived from different membership of the overspeed percentage to the overspeed percentage fuzzy set and different membership of the overspeed percentage change rate to the overspeed percentage change rate fuzzy set, wherein in each fuzzy control rule the derived membership of the additional pitch rate to the additional pitch rate fuzzy set is the smallest of the membership of the overspeed percentage to the overspeed percentage fuzzy set and the membership of the overspeed percentage change rate to the overspeed percentage change rate fuzzy set, resulting in a different number of membership of the additional pitch rate to the respective additional pitch rate fuzzy set, and the final additional pitch rate membership is the largest of the respective membership, i.e., PL r ＝max[PL r1 ，PL r2 ]，PM r ＝max[PM r1 ，PM r2 ，PM r3 ]，PS r ＝max[PS r1 ，PS r2 ，PS r3 ，PS r4 ，PS r5 ]，ZE r ＝max[ZE r1 ，ZE r2 ，ZE r3 ，ZE r4 ，ZE r5 ，ZE r6 ]Finally, the membership set of the additional variable pitch rate is { PL r ，PM r ，PS r ，ZE r }. However, the above fuzzy control rules are merely examples, and the present invention is not limited thereto. Other fuzzy control rules can be designed by those skilled in the art according to actual needs.
Then, calculating an additional pitch rate of the wind turbine based on the preset additional pitch rate fuzzy set and the membership of the additional pitch rate with respect to the preset additional pitch rate fuzzy set, for example by substituting the plurality of additional pitch rate values and the membership of the corresponding additional pitch rate with respect to the preset additional pitch rate fuzzy set into the preset additional pitch rate calculation formula. Specifically, the additional pitch rate ambiguity set { PL out ，PM out ，PS out ，ZE out Membership set { PL } with additional pitch rates r ，PM r ，PS r ，ZE r Specific numerical values of } are substituted into the formula
Resulting in a final additional pitch rate.
Fig. 3 shows simulation results of additional pitch rates according to an embodiment of the present invention, where input1 is a generator overspeed percentage [% ], input2 is a generator overspeed percentage change rate, and output1 is an additional pitch rate [ °/s ], as can be seen from fig. 3, according to a pitch control method of a wind turbine generator set according to an embodiment of the present invention, the obtained additional pitch rate of the wind turbine generator set is a continuously variable value. Compared with the prior art that the pitch rate jumps, the additional pitch rate of the wind generating set determined by the fuzzy control method is a continuously variable value, so that on one hand, the set is ensured to be capable of reducing the overspeed trend, and meanwhile, the set is not vibrated, and the normal and stable operation of the set is ensured.
Fig. 4 is a block diagram illustrating a pitch control apparatus according to an embodiment of the present invention.
Referring to fig. 4, a pitch control device 400 may comprise a data acquisition unit 410 and an additional pitch rate determination unit 420. The data acquisition unit 410 may acquire an overspeed percentage of the generator speed of the wind turbine generator set and an overspeed percentage change rate. The additional pitch rate determination unit 420 may determine the additional pitch rate of the wind turbine generator set by using a fuzzy control method based on the obtained over-speed percentage of the generator speed of the wind turbine generator set and the over-speed percentage change rate.
Alternatively, pitch control apparatus 400 may further comprise a pitch control unit (not shown). The pitch control unit may control the wind turbine to perform a pitch operation based on the determined additional pitch rate of the wind turbine and the predetermined pitch rate.
Specifically, the additional pitch rate determination unit 420 may determine a membership degree of an over-speed percentage of the generator rotational speed of the wind generating set with respect to a preset over-speed percentage blur set, may determine a membership degree of an over-speed percentage change rate of the generator rotational speed of the wind generating set with respect to a preset over-speed percentage change rate blur set, and may determine an additional pitch rate of the wind generating set by using a preset fuzzy control rule based on the membership degree of the over-speed percentage of the generator rotational speed of the wind generating set with respect to the preset over-speed percentage blur set and the membership degree of the over-speed percentage change rate of the generator rotational speed of the wind generating set with respect to the preset over-speed percentage change rate blur set. Here, the additional pitch rate determination unit 420 may determine a membership degree of the over-speed percentage of the generator rotational speed of the wind generating set with respect to the preset over-speed percentage fuzzy set based on the over-speed percentage of the generator rotational speed of the wind generating set and the preset over-speed percentage fuzzy set membership degree function. On the other hand, the additional pitch rate determination unit 420 may determine a membership of the over-speed percentage change rate of the generator rotational speed of the wind generating set with respect to the preset over-speed percentage change rate fuzzy set based on the over-speed percentage change rate of the generator rotational speed of the wind generating set and the preset over-speed percentage change rate fuzzy set membership function.
Further, the additional pitch rate determination unit 420 may calculate the membership of the additional pitch rate with respect to the preset additional pitch rate fuzzy set by using a preset fuzzy control rule based on the membership of the overspeed percentage of the generator rotational speed of the wind generating set with respect to the preset overspeed percentage fuzzy set and the membership of the overspeed percentage change rate of the generator rotational speed of the wind generating set with respect to the preset overspeed percentage change rate fuzzy set, and then may calculate the additional pitch rate of the wind generating set based on the preset additional pitch rate fuzzy set and the membership of the additional pitch rate with respect to the preset additional pitch rate fuzzy set. As described above, the preset additional pitch rate fuzzy set includes a plurality of additional pitch rate values. Accordingly, the additional pitch rate determination unit 420 may calculate the additional pitch rate of the wind park by substituting the plurality of additional pitch rate values and the membership degree of the corresponding additional pitch rate with respect to the preset additional pitch rate fuzzy set into the preset additional pitch rate calculation formula.
FIG. 5 is a block diagram illustrating a controller of a wind turbine according to an embodiment of the present disclosure.
Referring to fig. 5, a controller 500 of a wind turbine according to an embodiment of the present disclosure may be, but is not limited to, a pitch controller, a main controller of a wind turbine, etc. The controller 500 of a wind turbine generator set according to an embodiment of the present disclosure may include a processor 510 and a memory 520. Processor 510 may include, but is not limited to, a Central Processing Unit (CPU), a Digital Signal Processor (DSP), a microcomputer, a Field Programmable Gate Array (FPGA), a system on a chip (SoC), a microprocessor, an Application Specific Integrated Circuit (ASIC), or the like. The memory 520 stores computer programs to be executed by the processor 510. Memory 920 includes high-speed random access memory and/or nonvolatile computer-readable storage media. When the processor 510 executes a computer program stored in the memory 520, the pitch control method as described above may be implemented.
Alternatively, the controller 500 may communicate with other various components in the wind farm in a wired/wireless communication manner, as well as with other devices in the wind farm in a wired/wireless communication manner. In addition, the controller 500 may communicate with devices external to the wind farm in a wired/wireless communication.
The pitch control method of a wind turbine according to embodiments of the present disclosure may be written as computer programs and stored on a computer-readable storage medium. The screen recording method as described above may be implemented when the computer program is executed by a processor. Examples of the computer readable storage medium include: read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), flash memory, nonvolatile memory, CD-ROM, CD-R, CD + R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD + R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, blu-ray or optical disk storage, hard Disk Drives (HDD), solid State Disks (SSD), card memory (such as multimedia cards, secure Digital (SD) cards or ultra-fast digital (XD) cards), magnetic tape, floppy disks, magneto-optical data storage, hard disks, solid state disks, and any other means configured to store computer programs and any associated data, data files and data structures in a non-transitory manner and to provide the computer programs and any associated data, data files and data structures to a processor or computer to enable the processor or computer to execute the programs. In one example, the computer program and any associated data, data files, and data structures are distributed across networked computer systems such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed manner by one or more processors or computers.
According to the variable pitch control method of the wind generating set, according to the exemplary embodiment of the disclosure, the additional variable pitch rate which can be continuously changed is calculated through the fan rotating speed and the change rate information thereof, so that the probability of overspeed of the set can be effectively reduced, the mean time between faults (MTBF, mean time before faults) of the set and the generating capacity of the set are improved, meanwhile, less disturbance is brought to the set, and the running stability of the set is improved.
The above embodiments are merely illustrative embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes, substitutions or combinations thereof, which are easily contemplated by those skilled in the art within the scope of the present invention, should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (12)

1. The pitch control method of the wind generating set is characterized by comprising the following steps of:
acquiring the overspeed percentage and the overspeed percentage change rate of the rotating speed of a generator of the wind generating set;
determining an additional pitch rate of the wind turbine generator set by using a fuzzy control method based on the obtained over-speed percentage and over-speed percentage change rate of the generator rotational speed of the wind turbine generator set;
Wherein the step of determining the additional pitch rate of the wind park by using a fuzzy control method comprises:
determining the membership degree of the overspeed percentage of the generator rotating speed of the wind generating set relative to a preset overspeed percentage fuzzy set;
determining the membership degree of the over-speed percentage change rate of the generator rotating speed of the wind generating set relative to a preset over-speed percentage change rate fuzzy set;
based on the membership of the over-speed percentage of the generator speed of the wind generating set with respect to the preset over-speed percentage fuzzy set and the membership of the over-speed percentage change rate of the generator speed of the wind generating set with respect to the preset over-speed percentage change rate fuzzy set, determining the additional pitch rate of the wind generating set by using a preset fuzzy control rule.
2. The pitch control method of claim 1, further comprising:
and controlling the wind generating set to execute the pitching operation based on the determined additional pitching rate of the wind generating set and the preset pitching rate.
3. The pitch control method according to claim 1, wherein the step of determining the membership of the overspeed percentage of the generator speed of the wind power generation set with respect to a preset overspeed percentage fuzzy set comprises:
And determining the membership degree of the overspeed percentage of the generator rotating speed of the wind generating set relative to the preset overspeed percentage fuzzy set based on the overspeed percentage of the generator rotating speed of the wind generating set and a preset overspeed percentage fuzzy set membership degree function.
4. The pitch control method according to claim 1, wherein the step of determining the membership of the over-speed percentage change rate of the generator speed of the wind turbine generator set with respect to the preset over-speed percentage change rate fuzzy set comprises:
and determining the membership degree of the over-speed percentage change rate of the generator rotating speed of the wind generating set relative to the preset over-speed percentage change rate fuzzy set based on the over-speed percentage change rate of the generator rotating speed of the wind generating set and the preset over-speed percentage change rate fuzzy set membership degree function.
5. The pitch control method according to claim 1, wherein the step of determining the additional pitch rate of the wind turbine by using a preset fuzzy control rule comprises:
calculating the membership of the additional pitch rate to the preset additional pitch rate fuzzy set by using a preset fuzzy control rule based on the membership of the overspeed percentage of the generator speed of the wind generating set to the preset overspeed percentage fuzzy set and the membership of the overspeed percentage change rate of the generator speed of the wind generating set to the preset overspeed percentage change rate fuzzy set;
And calculating the additional pitch rate of the wind generating set based on the preset additional pitch rate fuzzy set and the membership degree of the additional pitch rate with respect to the preset additional pitch rate fuzzy set.
6. The pitch control method of claim 5, wherein the predetermined additional pitch rate fuzzy set comprises a plurality of additional pitch rate values.
7. The pitch control method of claim 6, wherein the step of calculating an additional pitch rate of the wind turbine comprises: and substituting the multiple additional pitch rate values and the membership degree of the corresponding additional pitch rates with respect to the preset additional pitch rate fuzzy set into a preset additional pitch rate calculation formula to calculate the additional pitch rate of the wind generating set.
8. A pitch control method as defined in claim 3, wherein the predetermined overspeed percentage fuzzy set membership function comprises a normal function.
9. The pitch control method of claim 4, wherein the predetermined percent overspeed rate-change fuzzy set membership function comprises a normal function.
10. A pitch control device of a wind turbine generator system, the pitch control device comprising:
The data acquisition unit is configured to acquire the overspeed percentage of the rotating speed of the generator of the wind generating set and the overspeed percentage change rate;
an additional pitch rate determination unit configured to determine an additional pitch rate of the wind turbine generator set by using a fuzzy control method based on the obtained over-speed percentage of the generator rotational speed of the wind turbine generator set and the over-speed percentage change rate;
wherein the additional pitch rate determining unit is further configured to determine a membership degree of an overspeed percentage of a generator rotational speed of the wind generating set with respect to a preset overspeed percentage fuzzy set;
determining the membership degree of the over-speed percentage change rate of the generator rotating speed of the wind generating set relative to a preset over-speed percentage change rate fuzzy set;
based on the membership of the over-speed percentage of the generator speed of the wind generating set with respect to the preset over-speed percentage fuzzy set and the membership of the over-speed percentage change rate of the generator speed of the wind generating set with respect to the preset over-speed percentage change rate fuzzy set, determining the additional pitch rate of the wind generating set by using a preset fuzzy control rule.
11. A computer readable storage medium storing a computer program, characterized in that the pitch control method according to any one of claims 1 to 9 is implemented when the computer program is executed by a processor.
12. A controller for a wind turbine generator system, the controller comprising:
a processor; and
memory storing a computer program which, when executed by a processor, implements a pitch control method according to any one of claims 1 to 9.
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