CN114294158A - Robust control-based wind turbine generator pneumatic unbalanced load control method - Google Patents

Robust control-based wind turbine generator pneumatic unbalanced load control method Download PDF

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CN114294158A
CN114294158A CN202111349003.2A CN202111349003A CN114294158A CN 114294158 A CN114294158 A CN 114294158A CN 202111349003 A CN202111349003 A CN 202111349003A CN 114294158 A CN114294158 A CN 114294158A
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robust independent
pitch controller
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王爽
杨政厚
周峰
韩健
张琪
岳红轩
陈卓
陈兆圣
陈志文
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Beijing Huaneng Xinrui Control Technology Co Ltd
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Abstract

The invention provides a wind turbine generator pneumatic unbalanced load control method based on robust control, which comprises the following steps: acquiring a main shaft load measurement quantity of a cabin to be measured; the main shaft load measurement of the engine room is converted into effective input of a robust independent variable pitch controller by adopting engine room coordinate transformation; establishing a product perturbation model of the pneumatic unbalance of the wind turbine generator; calculating a robust independent variable pitch controller; and obtaining the input pitch angle of the wind turbine generator control system by adopting the engine room coordinate inverse transformation. According to the invention, the bending moment measurement based on the engine room is used as the feedback input of the controller, so that the problem of mounting a sensor in a rotating part is solved, and the control cabinet and the sensor are both positioned in the engine room; the proposed control strategy is still carried out on the basis of Coleman transformation, and pneumatic imbalance control is completed by using only one controller; the robust independent variable pitch control strategy with multiple inputs, multiple outputs and high robustness is adopted, and the problems of incomplete decoupling and system nonlinearity of the traditional controller are solved.

Description

Robust control-based wind turbine generator pneumatic unbalanced load control method
Technical Field
The invention belongs to the technical field of wind power generation, and particularly relates to a wind turbine generator aerodynamic imbalance load control method based on robust control.
Background
Due to the restriction of the manufacturing precision and the installation level of the wind generating set, the initial installation angle and the uneven mass distribution of the blades can cause unbalance among the blades, the load fluctuation of the tower top is increased, the waving load of each blade is obviously different, the performance of the wind generating set can be reduced, the fatigue load of the set can be increased, and the power generation cost is increased.
The traditional wind turbine generator set independent pitch control design has the premise that three blades are symmetrical, and the characteristics are completely the same, so that the unbalanced load of the impeller is difficult to eliminate.
In order to solve the above problems, it is necessary to provide a robust control based wind turbine generator aerodynamic imbalance load control method which is reasonable in design and effectively solves the above problems.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art and provides a wind turbine generator aerodynamic imbalance load control method based on robust control.
The invention provides a wind turbine generator pneumatic unbalanced load control method based on robust control, which comprises the following steps:
acquiring a main shaft load measurement quantity of a cabin to be measured;
the main shaft load measurement of the engine room is converted into effective input of a robust independent variable pitch controller by adopting engine room coordinate transformation;
establishing a product perturbation model of the pneumatic unbalance of the wind turbine generator;
calculating the robust independent variable pitch controller;
and obtaining the input pitch angle of the wind turbine generator control system by adopting the inverse transformation of the cabin coordinate.
Optionally, the transforming the main shaft load measurement of the nacelle into an effective input of the robust independent pitch controller by using nacelle coordinate transformation includes:
the measurement of the main shaft load of the nacelle comprises a bending moment M in the y-direction of the main shaft of the nacelleyAnd bending moment M in the z-directionz，
The transformation equation of the coordinate transformation is as follows:
Figure BDA0003355027300000021
wherein the content of the first and second substances,
Figure BDA0003355027300000027
is the wind wheel azimuth angle, My2To obtain bending moment, M, by coordinate transformationy3The bending moment is obtained through coordinate transformation.
Optionally, the establishing of the product perturbation model of the aerodynamic imbalance of the wind turbine includes:
the uncertainty of the unit model is expressed as the combination of a linear determination model and a product perturbation factor by adopting an input product perturbation model;
adding the bending moment of the main shaft of the engine room in the y direction to MyAnd a bending moment M in the z-direction of the main shaft of the nacellezThe harmonic component in the real control object is regarded as an uncertainty part of a unit load model, and an input product perturbation model of the overturning moment, the yawing moment and the pitch angle in a fixed coordinate system is obtained, wherein in the product perturbation model, an actual control object
Figure BDA0003355027300000026
Comprises the following steps:
Figure BDA0003355027300000022
wherein the content of the first and second substances,
Figure BDA0003355027300000023
for the actual control object, P is the nominal control object (state space model), Δ(s) is the scale factor, and w(s) is the weight factor.
Optionally, the scale factor Δ(s) has a structure:
Figure BDA0003355027300000024
the weight factor W(s) has the structure:
Figure BDA0003355027300000025
where Δ d(s) is the component of the scale factor on the d-axis, Δ q(s) is the component of the scale factor on the q-axis, wd(s) is the component of the weight factor on the d-axis, and wq(s) is the component of the weight factor on the d-axis.
Optionally, before the calculating the robust independent pitch controller, the method further includes:
solving by adopting a mu comprehensive method, and equivalently expressing the robust independent variable pitch controller K as follows:
K(s)＝[Ky(s) Kr(s)]，
wherein K is the robust independent pitch controller, KyIs a feedback part of the robust independent pitch controller, KrA feed-forward part being the robust independent pitch controller;
according to a feedback part K of the robust independent variable pitch controlleryAnd a feedforward part K of the robust independent pitch controllerrDesigning an input weighting function W of the robust independent pitch controlleruAnd an output weighting function WpWherein, in the step (A),
Figure BDA0003355027300000031
wherein e ispWeighted outputs of overturning moment and yawing moment, euFor the weighted output of the pitch angle, S is the sensitivity function of the system, T is the complementary sensitivity function of the system, r is the reference input, n is the measurement noise of the sensor, I is the identity matrix, and M is the reference model.
Optionally, the sensitivity function S of the system is:
S＝(I+PK)-1，
wherein K is the robust independent variable pitch controller, I is an identity matrix, and P is a nominal control object (state space model);
the complementary sensitivity function T of the system is:
S＝(I+PK)-1PKy，
k is the robust independent variable pitch controller, I is an identity matrix, P is a nominal control object (state space model), and Ky is a feedback part of the robust independent variable pitch controller.
Optionally, the performance target of the robust independent pitch controller needs to meet:
Figure BDA0003355027300000032
optionally, before the calculating the robust independent pitch controller, the method further includes:
comprehensively forming an independent variable pitch control loop by using the structured singular value mu;
in order to solve the robust independent pitch controller K, a module structure Δ p is defined as:
Figure BDA0003355027300000041
delta is an uncertainty module of the system, and delta F is an imaginary module;
the design objective of the robust independent pitch controller K to be stable needs to be satisfied for each frequency ω ∈ [0, ∞ ], and the structure singular values:
Figure BDA0003355027300000046
wherein, FLAnd performing linear fractional transformation, wherein P is a nominal control object (a state space model), K is the robust independent variable pitch controller, j is an imaginary number symbol, and omega is frequency.
Optionally, before the calculating the robust independent pitch controller, the method further includes:
designing a reference model M of the robust independent variable pitch controller, wherein the reference model M is as follows:
Figure BDA0003355027300000042
where T is a time constant and ξ is a damping ratio.
Optionally, the obtaining the input pitch angle of the wind turbine generator control system by using the nacelle coordinate inverse transformation includes:
obtaining a blade pitch angle beta according to the inverse transformation of the coordinates of the engine room1、β2、β3And pitch angle beta of centralized pitch controllercSuperpositionObtaining an input pitch angle of a unit control system; wherein the inverse cabin coordinate transformation equation is:
Figure BDA0003355027300000043
wherein, betai(i is 1,2,3) is the blade pitch angle,
Figure BDA0003355027300000047
is the azimuth angle of the wind wheel, wherein
Figure BDA0003355027300000044
Figure BDA0003355027300000045
βdIs the pitch angle of d-axis in d-q coordinate system, betaqIs the pitch angle of the q axis under the d-q coordinate system.
According to the control method, the obtained main shaft load measurement of the cabin to be measured is converted into effective input of a robust independent variable pitch controller through cabin coordinate transformation, and the method is different from the traditional variable pitch controller for blade root bending moment measurement; different from the method for improving the Coleman coordinate transformation adopted by the existing pneumatic unbalanced load control method, the proposed control strategy is still carried out on the basis of the Coleman transformation, and only one controller is used for completing pneumatic unbalanced control; different from the traditional multiple single-input single-output PI independent variable pitch controllers, the robust independent variable pitch control strategy with multiple inputs and multiple outputs and strong robustness is adopted, and the problems of incomplete decoupling and system nonlinearity of the traditional controller are solved. By adopting the control method, the pneumatic unbalanced load of the wind turbine generator caused by the restriction of the blade installation process level can be restrained, and the power generation cost increased by the fatigue load of the wind turbine generator can be reduced.
Drawings
FIG. 1 is a schematic flow chart of a wind turbine generator aerodynamic imbalance load control method based on robust control according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an improved robust independent pitch control strategy for impeller imbalance according to another embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an uncertainty model of a wind turbine generator according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of a control structure of a robust independent pitch controller according to another embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the invention provides a wind turbine generator aerodynamic imbalance load control method S100 based on robust control, where the monitoring method S100 includes:
and S110, acquiring a main shaft load measurement quantity of the cabin to be measured.
Specifically, in the present embodiment, the main shaft load measurement of the nacelle to be measured is the bending moment M in the y direction of the main shaft of the nacelle to be measuredyAnd bending moment M in the z-directionz。
And S120, converting the main shaft load measurement of the cabin into effective input of the robust independent variable pitch controller by adopting cabin coordinate transformation.
Specifically, as shown in fig. 2, coordinate transformation is firstly required to be performed on the load measurement quantity of the nacelle to be measured, so as to provide effective input for the robust independent pitch controller. Different from the Coleman transformation in a common independent variable pitch control strategy, the bending moment M in the y and z directions of the main shaft of the nacelle is transformed by using the coordinate transformation of the nacelle in the formula (1) in the inventionyAnd MzTransformation to feedback input M for robust pitch controllery2And My3. The transformation equation of the coordinate transformation is as follows:
Figure BDA0003355027300000061
wherein the content of the first and second substances,
Figure BDA0003355027300000067
is the wind wheel azimuth angle, My2To obtain bending moment, M, by coordinate transformationy3The bending moment is obtained through coordinate transformation.
The robust independent variable pitch controller formed by the coordinate system does not depend on measurement of a rotation variable, feedback input of the robust independent variable pitch controller is based on a main shaft of an engine room, difficulty in sensor arrangement is reduced, meanwhile, the number of the sensors is reduced from 3 to 2, fault risks of the sensors are reduced, and reliability of measurement is improved.
And S130, establishing a product perturbation model of the pneumatic unbalance of the wind turbine generator.
Specifically, the bending moment in the y direction of the main shaft of the nacelle and M are combinedyAnd a bending moment M in the z-direction of the main shaft of the nacellezThe harmonic component in the equation (2) is regarded as an uncertainty part of a unit load model, and an input product perturbation model of the overturning moment, the yawing moment and the pitch angle in the fixed coordinate system in the equation (2) is obtained, wherein in the product perturbation model, an actual control object
Figure BDA0003355027300000062
Comprises the following steps:
Figure BDA0003355027300000063
Figure BDA0003355027300000064
for the actual control object, P is the nominal control object (state space model), Δ(s) is the scale factor, and w(s) is the weight factor.
Optionally, the scale factor Δ(s) has a structure:
Figure BDA0003355027300000065
the weight factor W(s) has the structure:
Figure BDA0003355027300000066
where Δ d(s) is the component of the scale factor on the d-axis, Δ q(s) is the component of the scale factor on the q-axis, wd(s) is the component of the weight factor on the d-axis, and wq(s) is the component of the weight factor on the d-axis.
Based on the state space model after linearization, selecting a proper perturbation range according to a formula (2) to calculate to obtain a nominal model and a weight factor, and determining a product perturbation model of the unit aerodynamic imbalance.
As shown in fig. 3, the system model considering the unbalanced load of the wind turbine may be expressed as a combination of a deterministic model and an uncertain model. And then designing a two-degree-of-freedom robust independent variable pitch controller based on a product perturbation model. The robust independent variable pitch controller takes the measurement bending moment and the reference bending moment as input, the pitch angle as output, and the control structure of the robust independent variable pitch controller is shown in fig. 4. As shown in FIG. 4, G is a generalized model, including models
Figure BDA0003355027300000072
And an interconnection structure between the model and the robust independent pitch controller. The interconnect structure includes a weighting function to facilitate further loop shaping.
And S140, calculating the robust independent variable pitch controller.
The weight function W needs to be designed before solving the controller KpAnd WuAnd a reference model M to give the individual pitch controllers a desired closed loop dynamic performance.
Specifically, a mu comprehensive method is adopted for solving, and the robust independent pitch controller K is equivalently expressed as:
K(s)＝[Ky(s) Kr(s)]， (5)
wherein K is the robust independent pitch controller, KyIs a feedback part of the robust independent pitch controller, KrA feed-forward part being the robust independent pitch controller;
according to a feedback part K of the robust independent variable pitch controlleryAnd a feedforward part K of the robust independent pitch controllerrDesigning an input weighting function W of the robust independent pitch controlleruAnd an output weighting function WpWherein, in the step (A),
Figure BDA0003355027300000071
wherein e ispWeighted outputs of overturning moment and yawing moment, euFor the weighted output of the pitch angle, S is the sensitivity function of the system, T is the complementary sensitivity function of the system, r is the reference input, n is the measurement noise of the sensor, I is the identity matrix, and M is the reference model.
Weight function WpAnd WuAlso the transfer function, the component weights are different in different frequency domains. Weight function WuPunishment is carried out on the output of the robust independent variable pitch controller, and the purpose is to limit the action amount of the variable pitch actuator. At the same time, high frequency control actions that reach the rate limit of the pitch actuator should also be avoided. Thus, W is selecteduIt is desirable to ensure high gain at frequencies beyond the actuator bandwidth and low gain at frequencies below the actuator bandwidth. Weight function WpThe control output error is weighted and at a given frequency a high gain reduces the sensitivity at that frequency, resulting in a high controller gain improving the interference rejection capability.
Illustratively, the sensitivity function S of the system is:
S＝(I+PK)-1， (7)
wherein K is the robust independent variable pitch controller, I is an identity matrix, and P is a nominal control object (state space model);
the complementary sensitivity function T of the system is:
S＝(I+PK)-1PKy， (8)
k is the robust independent variable pitch controller, I is an identity matrix, P is a nominal control object (state space model), and Ky is a feedback part of the robust independent variable pitch controller.
Illustratively, the performance goals of the robust independent pitch controller need to be met:
Figure BDA0003355027300000081
illustratively, before the computing the robust independent pitch controller, the method further comprises:
comprehensively forming an independent variable pitch control loop by using the structured singular value mu;
in order to solve the robust independent pitch controller K, a module structure Δ p is defined as:
Figure BDA0003355027300000082
delta is an uncertainty module of the system, and delta F is an imaginary module;
the design objective of the robust independent pitch controller K to be stable needs to be satisfied for each frequency ω ∈ [0, ∞ ], and the structure singular values:
Figure BDA0003355027300000083
wherein, FLAnd performing linear fractional transformation, wherein P is a nominal control object (a state space model), K is the robust independent variable pitch controller, j is an imaginary number symbol, and omega is frequency.
Illustratively, before the computing the robust independent pitch controller, the method further comprises:
designing a reference model M of the robust independent variable pitch controller, wherein the reference model M is as follows:
Figure BDA0003355027300000091
where T is a time constant and ξ is a damping ratio.
The reference model M is connected with the reference signal and the output signal, and the performance and the robust stability of the robust independent variable pitch controller are improved. Response characteristics of the wind turbine generator and adjustment capacity of a variable pitch system are comprehensively considered, and expected dynamic response of a closed-loop system is achieved by designing a stable model M.
And selecting the same coefficients T and xi of the transfer function in the reference model to enable the two channels to have approximate dynamic characteristics, and solving the mixed sensitivity problem through a D-K iterative algorithm to calculate the robust independent variable pitch controller K.
And S150, performing inverse transformation on the coordinates of the engine room to obtain the input pitch angle of the wind turbine generator control system.
Specifically, using the coordinate inverse transformation of equation (13), the blade pitch angle β is obtained1、β2、β3And pitch angle beta of centralized pitch controllercSuperposing to obtain an input pitch angle of the unit control system; wherein the inverse cabin coordinate transformation equation is:
Figure BDA0003355027300000092
wherein, betai(i is 1,2,3) is the blade pitch angle,
Figure BDA0003355027300000093
is the azimuth angle of the wind wheel, wherein
Figure BDA0003355027300000094
Figure BDA0003355027300000095
βdIs d axis under d-q coordinate systemPitch angle of, betaqIs the pitch angle of the q axis under the d-q coordinate system.
Different from the method for improving the Coleman coordinate transformation adopted by the existing pneumatic unbalanced load control method, the proposed control strategy is still carried out on the basis of the Coleman transformation, and only one controller is used for completing pneumatic unbalanced control.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.

Claims (10)

1. A wind turbine generator system pneumatic unbalanced load control method based on robust control is characterized by comprising the following steps:
acquiring a main shaft load measurement quantity of a cabin to be measured;
the main shaft load measurement of the engine room is converted into effective input of a robust independent variable pitch controller by adopting engine room coordinate transformation;
establishing a product perturbation model of the pneumatic unbalance of the wind turbine generator;
calculating the robust independent variable pitch controller;
and obtaining the input pitch angle of the wind turbine generator control system by adopting the inverse transformation of the cabin coordinate.
2. The control method according to claim 1, wherein the converting the main shaft load measurement of the nacelle into the effective input of the robust independent pitch controller by using the nacelle coordinate transformation comprises:
the measurement of the main shaft load of the nacelle comprises a bending moment M in the y-direction of the main shaft of the nacelleyAnd bending moment M in the z-directionz，
The transformation equation of the coordinate transformation is as follows:
Figure FDA0003355027290000011
wherein the content of the first and second substances,
Figure FDA0003355027290000012
is the wind wheel azimuth angle, My2To obtain bending moment, M, by coordinate transformationy3The bending moment is obtained through coordinate transformation.
3. The control method of claim 2, wherein said establishing a product perturbation model of the wind turbine aerodynamic imbalance comprises:
the uncertainty of the unit model is expressed as the combination of a linear determination model and a product perturbation factor by adopting an input product perturbation model;
adding the bending moment of the main shaft of the engine room in the y direction to MyAnd a bending moment M in the z-direction of the main shaft of the nacellezThe harmonic component in the real control object is regarded as an uncertainty part of a unit load model, and an input product perturbation model of the overturning moment, the yawing moment and the pitch angle in a fixed coordinate system is obtained, wherein in the product perturbation model, an actual control object
Figure FDA0003355027290000013
Comprises the following steps:
Figure FDA0003355027290000021
wherein the content of the first and second substances,
Figure FDA0003355027290000022
for the actual control object, P is the nominal control object (state space model), Δ(s) is the scale factor, and w(s) is the weight factor.
4. A control method according to claim 3, characterized in that the structure of the scale factor Δ(s) is:
Figure FDA0003355027290000023
the weight factor W(s) has the structure:
Figure FDA0003355027290000024
where Δ d(s) is the component of the scale factor on the d-axis, Δ q(s) is the component of the scale factor on the q-axis, wd(s) is the component of the weight factor on the d-axis, and wq(s) is the component of the weight factor on the d-axis.
5. The control method of claim 3, wherein prior to said computing said robust independent pitch controller, said method further comprises:
solving by adopting a mu comprehensive method, and equivalently expressing the robust independent variable pitch controller K as follows:
K(s)＝[Ky(s) Kr(s)]，
wherein K is the robust independent pitch controller, KyIs a feedback part of the robust independent pitch controller, KrA feed-forward part being the robust independent pitch controller;
according to a feedback part K of the robust independent variable pitch controlleryAnd a feedforward part K of the robust independent pitch controllerrDesigning an input weighting function W of the robust independent pitch controlleruAnd an output weighting function WpWherein, in the step (A),
Figure FDA0003355027290000025
wherein e ispWeighted outputs of overturning moment and yawing moment, euFor the weighted output of the pitch angle, S is the sensitivity function of the system, T is the complementary sensitivity function of the system, r is the reference input, n is the measurement noise of the sensor, I is the identity matrix, and M is the reference model.
6. Control method according to claim 5, characterized in that the sensitivity function S of the system is:
S＝(I+PK)-1，
wherein K is the robust independent variable pitch controller, I is an identity matrix, and P is a nominal control object (state space model);
the complementary sensitivity function T of the system is:
S＝(I+PK)-1PKy，
k is the robust independent variable pitch controller, I is an identity matrix, P is a nominal control object (state space model), and Ky is a feedback part of the robust independent variable pitch controller.
7. The control method according to claim 5, wherein the performance goals of the robust independent pitch controller need to be met:
Figure FDA0003355027290000031
8. the control method of claim 1, wherein prior to said computing said robust independent pitch controller, said method further comprises:
comprehensively forming an independent variable pitch control loop by using the structured singular value mu;
in order to solve the robust independent pitch controller K, a module structure Δ p is defined as:
Figure FDA0003355027290000032
delta is an uncertainty module of the system, and delta F is an imaginary module;
the design objective of the robust independent pitch controller K to be stable needs to be satisfied for each frequency ω ∈ [0, ∞ ], and the structure singular values:
Figure FDA0003355027290000033
wherein, FLAnd performing linear fractional transformation, wherein P is a nominal control object (a state space model), K is the robust independent variable pitch controller, j is an imaginary number symbol, and omega is frequency.
9. The control method of claim 8, wherein prior to said computing said robust independent pitch controller, said method further comprises:
designing a reference model M of the robust independent variable pitch controller, wherein the reference model M is as follows:
Figure FDA0003355027290000041
where T is a time constant and ξ is a damping ratio.
10. The control method according to claim 9, wherein the obtaining an input pitch angle of the wind turbine control system using an inverse nacelle coordinate transformation comprises:
obtaining a blade pitch angle beta according to the inverse transformation of the coordinates of the engine room1、β2、β3And pitch angle beta of centralized pitch controllercSuperposing to obtain an input pitch angle of the unit control system; wherein the inverse cabin coordinate transformation equation is:
Figure FDA0003355027290000042
wherein, betai(i is 1,2,3) is the blade pitch angle,
Figure FDA0003355027290000043
for wind wheel orientationCorner, wherein
Figure FDA0003355027290000044
Figure FDA0003355027290000045
βdIs the pitch angle of d-axis in d-q coordinate system, betaqIs the pitch angle of the q axis under the d-q coordinate system.
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