CN114352474B - Primary frequency modulation control method and equipment for wind turbine generator based on laser radar wind measurement - Google Patents
Primary frequency modulation control method and equipment for wind turbine generator based on laser radar wind measurement Download PDFInfo
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Abstract
The invention provides a primary frequency modulation control method and equipment for a wind turbine based on laser radar wind measurement. And controlling the change rate of the active power according to the incoming wind speed obtained in advance. According to the invention, the laser radar wind measurement is innovatively introduced, so that the wind turbine generator can obtain incoming flow wind speed information in advance by using the laser radar, and the active power change rate is correspondingly regulated, so that different active power change rates are used more pertinently, the index requirement of primary frequency modulation response is met, and the problems of increased fatigue load of the wind turbine generator and stability caused by great change of the running state of the wind turbine generator due to primary frequency modulation requirement are simultaneously reduced.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a primary frequency modulation control method, a primary frequency modulation control device, computer equipment and a storage medium of a wind turbine generator based on laser radar wind measurement.
Background
As more and more wind turbines are integrated into the power grid, the influence on the frequency of the power grid is greater due to the characteristics of randomness, intermittence and the like of wind power generation. Therefore, the primary frequency modulation function is more and more important in a control strategy of grid connection friendliness of the wind turbine generator. When the power grid frequency rises, the active power of the wind turbine generator in the whole field is required to be reduced to support the stability of the power grid frequency. The primary frequency modulation is generally realized by correspondingly calculating an active power adjustment value through measuring the frequency variation of a grid-connected point, and the active power adjustment of the wind turbine is realized through pitch control and variable-current control after the wind turbine receives the adjustment value. However, as the active power output of the wind turbine generator has randomness along with the change of wind speed, in order to rapidly meet the primary frequency modulation response index, the wind turbine generator needs to rapidly change the active power adjustment value, so that the power generation state operating point of the wind turbine generator can be rapidly changed, the fatigue load of a machine set executing mechanism and large components is increased, and particularly the influence of the pitching action on the tower bottom load is remarkable.
The prior technical proposal for the problem comprises: in order to meet the primary frequency modulation response index, setting an active power change rate which correspondingly meets the index, and adjusting the active power output of the wind turbine generator to complete primary frequency modulation response according to the change rate when a primary frequency modulation active power adjustment instruction is issued. However, in the prior art, only the mode of setting the unique active power change rate is required to meet the primary frequency modulation response index, and the fatigue load of a unit executing mechanism and a large part is increased due to the rapid change of the power generation state operating point of the wind turbine caused by the primary frequency modulation requirement, and particularly the influence of the pitching action on the tower bottom load is remarkable.
Disclosure of Invention
The invention provides a primary frequency modulation control method, a device, computer equipment and a storage medium of a wind turbine generator based on laser radar wind measurement, and aims to meet index requirements of primary frequency modulation response and simultaneously reduce stability problems caused by increased fatigue load of the wind turbine generator and great change of running state of the wind turbine generator due to the primary frequency modulation requirements.
Therefore, a first object of the present invention is to provide a primary frequency modulation control method for a wind turbine generator based on laser radar wind measurement, which includes:
collecting the incoming flow wind speed of the 100 meter cross section of the detection laser radar in the continuous detection period and preprocessing to obtain the incoming flow average wind speed of the 100 meter cross section of the detection laser radar in each continuous detection period;
constructing a frequency modulation control calculation model, inputting the average incoming wind speed of the 100-meter cross section of the detection laser radar in the preprocessed continuous detection period into the frequency modulation control calculation model, and outputting the result as a frequency modulation power control mode;
and receiving a primary frequency modulation instruction transmitted by the primary frequency modulation device, and judging whether primary frequency modulation is needed or not based on the frequency modulation power control mode and the primary frequency modulation instruction.
When preprocessing the incoming wind speed of the 100 meter cross section of the detection laser radar in a continuous detection period, setting a wind speed filtering time constant, and performing the preprocessing by using a moving average method.
Wherein, the step of obtaining the incoming flow average wind speed of the detection laser radar 100 meters section in each detection period comprises the following steps:
obtaining the incoming flow wind speed Vlidar_last of the 100 meter cross section of the laser radar in the previous detection period, removing high-frequency signals in the detected wind speed to enable wind speed input to be smoother, and performing filtering processing on the detected wind speed by using a wind speed filtering time constant Vfilter to obtain the incoming flow wind speed F_vlidar_last of the 100 meter cross section of the laser radar at the previous sampling point after filtering;
obtaining the incoming wind speed Vlidar_now of the 100-meter cross section of the laser radar in the current detection period, removing high-frequency signals in the detected wind speed to enable wind speed input to be smoother, and performing filtering processing on the detected wind speed by using a wind speed filtering time constant Vfilter to obtain the incoming wind speed F_vlidar_now of the 100-meter cross section of the laser radar at the current sampling point after filtering;
obtaining the incoming flow wind speed Vlidar_later of the 100 meter cross section of the laser radar in the later detection period, removing high-frequency signals in the detected wind speed to enable the wind speed input to be smoother, and performing filtering processing on the detected wind speed by using a wind speed filtering time constant Vfilter to obtain the incoming flow wind speed F_Vlidar_later of the 100 meter cross section of the laser radar at the later sampling point after filtering;
the incoming flow wind speed of the 100 meter cross section of the laser radar corresponding to the previous sampling point, the current sampling point and the subsequent sampling point is the incoming flow wind speed of the 100 meter cross section of the laser radar with three sampling points before, after and in the middle of two continuous detection periods.
The frequency modulation control calculation model comprises the following components:
the calculation module is used for calculating a frequency modulation control parameter through the incoming flow wind speed F_Vlidar_last of the previous sampling point laser radar 100 meters cross section, the incoming flow wind speed F_Vlidar_now of the current sampling point laser radar 100 meters cross section and the incoming flow wind speed F_Vlidar_later of the subsequent sampling point laser radar 100 meters cross section;
and the judging module is used for setting a trigger threshold value, comparing the trigger threshold value with the frequency modulation control parameter and outputting the trigger threshold value as a frequency modulation power control mode.
Wherein, when calculating the frequency modulation control parameter, the calculation module:
subtracting the filtered incoming flow wind speed F_Vlidar_later of the 100 meter cross section of the laser radar of the later sampling point from the filtered incoming flow wind speed F_Vlidar_now of the 100 meter cross section of the laser radar of the current sampling point to obtain an incoming flow wind speed difference diff_F_Vlidar_later-now of the 100 meter cross section of the laser radar of the later and the current sampling point;
subtracting the filtered incoming flow wind speed F_Vlidar_now of the 100-meter cross section of the current sampling point laser radar from the filtered incoming flow wind speed F_Vlidar_last of the 100-meter cross section of the previous sampling point laser radar to obtain an incoming flow wind speed difference diff_F_Vlidar_now-last of the 100-meter cross section of the current and previous sampling point laser radar;
obtaining a control period constant dT, and multiplying the control period constant dT by diff_F_vlidar_later-now and diff_F_vlidar_now-last respectively to obtain an area area_later-now formed by the wind speed difference between the later and the current sampling point in a single control period and an area area_now-last formed by the wind speed difference between the current and the previous sampling point in the single control period;
and adding the wind speed differences to obtain an area sum area_last-now-later formed by the wind speed differences in two control periods, and obtaining an area accumulated value area_n of the laser wind-finding radar in the working process through repeated calculation.
The judgment module sets a trigger Threshold value area_threshold and compares the trigger Threshold value area_threshold with the calculated area accumulated value area_n; the trigger Threshold value area_threshold is set to be a plurality of incremental Threshold values, and the thresholds correspond to different modulation power control modes respectively; if the area accumulated value is larger than any one of the trigger thresholds, the frequency modulation power control mode corresponding to the current trigger threshold is judged.
The primary frequency modulation device transmits a real-time primary frequency modulation action zone bit PFCflag; if the received primary frequency modulation action flag bit PFCflag is 0, the frequency modulation action is not executed; and if the received primary frequency modulation action flag bit PFCflag is 1, adjusting the active power of the laser wind-finding radar to the mode same as the frequency modulation power control mode.
The second object of the present invention is to provide a primary frequency modulation control device for a wind turbine generator based on laser radar wind measurement, which comprises:
the data acquisition module is used for acquiring the incoming flow wind speed of the 100 meter cross section of the detection laser radar in the continuous detection period and preprocessing the incoming flow wind speed to obtain the incoming flow average wind speed of the 100 meter cross section of the detection laser radar in each continuous detection period;
the model construction module is used for constructing a frequency modulation control calculation model, inputting the preprocessed incoming flow average wind speed of the 100-meter section of the detection laser radar in the continuous detection period into the frequency modulation control calculation model, and outputting a result as a frequency modulation power control mode;
the frequency modulation control module is used for receiving the primary frequency modulation instruction transmitted by the primary frequency modulation device and judging whether primary frequency modulation is needed or not based on the frequency modulation power control mode and the primary frequency modulation instruction.
A third object of the invention is to propose a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executing the computer program implements the method according to the above mentioned technical solution.
A fourth object of the present invention is to propose a non-transitory computer-readable storage medium on which a computer programme is stored, which when being executed by a processor carries out the method of the preceding solution.
Compared with the prior art, the wind turbine generator primary frequency modulation control method based on laser radar wind measurement provided by the invention is characterized in that the wind speed change condition is judged by calculating the wind speed difference of front and rear sampling points in each period and accumulating the area and the mode of calculating the area formed by the wind speed difference of the front and rear sampling points, and the laser radar wind measurement is introduced, so that the wind turbine generator can obtain incoming flow wind speed information in advance by using a laser radar, the active power change rate is correspondingly regulated, different active power change rates are used more pertinently, the index requirement of primary frequency modulation response is met, and meanwhile, the stability problems caused by the increase of fatigue load of the generator set and the great change of the running state of the generator set due to the primary frequency modulation requirement are reduced.
Drawings
The invention and/or additional aspects and advantages will be apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic flow chart of a primary frequency modulation control method of a wind turbine generator set based on laser radar wind measurement.
Fig. 2 is a schematic structural diagram of a primary frequency modulation control device of a wind turbine generator based on laser radar wind measurement.
Fig. 3 is a schematic structural diagram of a non-transitory computer readable storage medium according to the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
Fig. 1 is a schematic diagram of a primary frequency modulation control method of a wind turbine generator based on laser radar wind measurement according to an embodiment of the present invention. The method comprises the following steps:
step 101, collecting and preprocessing the incoming flow wind speed of the detection laser radar 100 meters in a continuous detection period to obtain the incoming flow average wind speed of the detection laser radar 100 meters in each continuous detection period.
The method is used for primary frequency modulation control of the wind turbine generator, introduces a laser wind-finding radar, and carries out judgment of frequency modulation control based on wind speed calculation. The active power change rate of the wind turbine generator is controlled in the primary frequency modulation response process, so that the requirements of primary frequency modulation response indexes can be met better under different wind conditions.
The original signal is not suitable for the reasons of a measuring device or an estimation algorithm, and the original signal needs to be subjected to filtering processing, so that the control effect is prevented from being influenced by unnecessary measurement interference signals. When preprocessing the incoming wind speed of the 100 meter cross section of the detection laser radar in a continuous detection period, setting a wind speed filtering time constant, and performing the preprocessing by using a moving average method. The set wind speed filter constant is a sampling time interval, the incoming wind speed of the 100 meter cross section of the detection laser radar is acquired and detected according to the sampling time interval in the detection period, and average value processing is carried out to obtain the incoming wind average wind speed of the 100 meter cross section of the detection laser radar, and the incoming wind average wind speed is used as the incoming wind speed of three sampling points before, after and in the middle of two continuous detection periods.
Specifically, obtaining the incoming flow wind speed Vlidar_last of the 100 meter cross section of the laser radar in the previous detection period, removing high-frequency signals in the detected wind speed to enable wind speed input to be smoother, and performing filtering processing with a wind speed filtering time constant Vfilter on the detected wind speed to obtain the incoming flow wind speed F_Vlidar_last of the 100 meter cross section of the laser radar of the previous sampling point after filtering;
obtaining the incoming wind speed Vlidar_now of the 100-meter cross section of the laser radar in the current detection period, removing high-frequency signals in the detected wind speed to enable wind speed input to be smoother, and performing filtering processing on the detected wind speed by using a wind speed filtering time constant Vfilter to obtain the incoming wind speed F_vlidar_now of the 100-meter cross section of the laser radar at the current sampling point after filtering;
and obtaining the incoming flow wind speed Vlidar_later of the 100-meter cross section of the laser radar in the later detection period, removing high-frequency signals in the detected wind speed to enable the wind speed input to be smoother, and performing filtering processing on the incoming flow wind speed with a wind speed filtering time constant Vfilter to obtain the filtered incoming flow wind speed F_Vlidar_later of the 100-meter cross section of the laser radar at the later sampling point.
According to the embodiment, laser radar wind measurement is introduced, the incoming wind speed is obtained in advance, different active power change rates required under different wind conditions are controlled, the requirements of a unit for different active power changes in the process of simultaneously primary frequency modulation response when the unit faces wind condition changes are made in advance, the stability of the active power change moment of the unit is improved, the fatigue load of a large part of the unit, which is increased due to multiple response primary frequency modulation, is reduced, and the influence of the sudden change of the active power on the tower bottom load is reduced.
And 102, constructing a frequency modulation control calculation model, inputting the average incoming wind speed of the 100-meter cross section of the detection laser radar in the preprocessed continuous detection period into the frequency modulation control calculation model, and outputting the result as a frequency modulation power control mode.
The frequency modulation control calculation model comprises:
the calculation module is used for calculating a frequency modulation control parameter through the incoming flow wind speed F_Vlidar_last of the previous sampling point laser radar 100 meters cross section, the incoming flow wind speed F_Vlidar_now of the current sampling point laser radar 100 meters cross section and the incoming flow wind speed F_Vlidar_later of the subsequent sampling point laser radar 100 meters cross section;
and the judging module is used for setting a trigger threshold value, comparing the trigger threshold value with the frequency modulation control parameter and outputting the trigger threshold value as a frequency modulation power control mode.
The calculation module calculates the frequency modulation control parameter:
subtracting the filtered incoming flow wind speed F_Vlidar_later of the 100 meter cross section of the laser radar of the later sampling point from the filtered incoming flow wind speed F_Vlidar_now of the 100 meter cross section of the laser radar of the current sampling point to obtain an incoming flow wind speed difference diff_F_Vlidar_later-now of the 100 meter cross section of the laser radar of the later and the current sampling point;
subtracting the filtered incoming flow wind speed F_Vlidar_now of the 100-meter cross section of the current sampling point laser radar from the filtered incoming flow wind speed F_Vlidar_last of the 100-meter cross section of the previous sampling point laser radar to obtain an incoming flow wind speed difference diff_F_Vlidar_now-last of the 100-meter cross section of the current and previous sampling point laser radar;
obtaining a control period constant dT, and multiplying the control period constant dT by diff_F_vlidar_later-now and diff_F_vlidar_now-last respectively to obtain an area area_later-now formed by the wind speed difference between the later and the current sampling point in a single control period and an area area_now-last formed by the wind speed difference between the current and the previous sampling point in the single control period;
and adding the wind speed differences to obtain an area sum area_last-now-later formed by the wind speed differences in two control periods, and obtaining an area accumulated value area_n of the laser wind-finding radar in the working process through repeated calculation.
The calculation module of the invention judges the wind speed change condition by calculating the area formed by the wind speed difference before and after the moment, but the invention is not limited to the mode, and other modes include modes such as calculating the wind speed difference after the average of different wind speed average time constants, calculating the wind speed change rate, wind speed change acceleration and the like. In other modes of the invention, the wind speed change is counted through calculation in a certain time period.
The judgment module sets a trigger Threshold value area_threshold and compares the trigger Threshold value area_threshold with the calculated area accumulated value area_n; the trigger Threshold value area_threshold is set to be a plurality of incremental Threshold values, and the thresholds correspond to different modulation power control modes respectively; if the area accumulated value is larger than any one of the trigger thresholds, the frequency modulation power control mode corresponding to the current trigger threshold is judged.
Step 103, receiving a primary frequency modulation instruction transmitted by the primary frequency modulation device, and judging whether primary frequency modulation is needed or not based on a frequency modulation power control mode and the primary frequency modulation instruction.
The primary frequency modulation device transmits a real-time primary frequency modulation action zone bit PFCflag; if the received primary frequency modulation action flag bit PFCflag is 0, the frequency modulation action is not executed; and if the received primary frequency modulation action flag bit PFCflag is 1, adjusting the active power of the laser wind-finding radar to the mode same as the frequency modulation power control mode.
In other embodiments of the present invention, when the three-level fm power control mode is set, three-level trigger thresholds are required to be set, and the three-level trigger thresholds are respectively marked as a first trigger threshold, a second trigger threshold, and a third trigger threshold, where the first trigger threshold is less than the second trigger threshold and less than the third trigger threshold, and the trigger thresholds are set according to actual working experience. When a primary frequency modulation action flag bit PFCflag of a primary frequency modulation instruction is 1, comparing the calculated area accumulated value with a trigger threshold, judging that a frequency modulation power control mode is 1 level if the area accumulated value is between a first trigger threshold and a second trigger threshold, wherein PFCflag and Powerrate eflag are 1 at the same time, and increasing the original power change rate Powerrate1 to Powerrate2; if the area accumulated value is between the second trigger threshold and the third trigger threshold, judging that the frequency modulation power control mode is 2 stages, setting Powerrate to be 2, and increasing the original power change rate Powerrate1 to Powerrate3; if the area accumulated value is larger than the third trigger threshold, judging that the frequency modulation power control mode is 3 stages, setting Powerrate to 3, and increasing the original active power change rate Powerrate1 to Powerrate3. In the invention, the frequency modulation power control mode can be set to other stages according to the actual fan requirement.
The invention adopts the mode of changing the active power in primary frequency modulation, but is not limited to the mode, and other modes such as secondary frequency modulation, active power adjustment required by the control of a unit and the like are adopted.
In order to implement the embodiment, the invention also provides a primary frequency modulation control device of the wind turbine generator based on laser radar wind measurement, as shown in fig. 2, comprising:
the data acquisition module 310 is configured to acquire and pre-process incoming flow wind speeds of 100 meters in cross section of the detection laser radar in continuous detection periods, so as to obtain an incoming flow average wind speed of 100 meters in cross section of the detection laser radar in each detection period;
the model construction module 320 is configured to construct a frequency modulation control calculation model, input the preprocessed incoming flow average wind speed of the 100 meter cross section of the detection laser radar in the continuous detection period into the frequency modulation control calculation model, and output the result as a frequency modulation power control mode;
the fm control module 330 is configured to receive the primary fm command transmitted by the primary fm device, and determine whether primary fm is needed based on the fm power control mode and the primary fm command.
To implement an embodiment, the present invention also proposes another computer device comprising: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes primary frequency modulation control of the wind turbine generator set according to the embodiment of the invention when executing the computer program.
As shown in fig. 3, the non-transitory computer readable storage medium includes a memory 810 of instructions executable by a processor 820 of a primary control device according to a wind turbine to perform a method, an interface 830. Alternatively, the storage medium may be a non-transitory computer readable storage medium, for example, a ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
In order to implement the embodiment, the invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements primary frequency modulation control of the wind turbine according to the embodiment of the invention.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In such embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the described embodiments may be implemented by a program that instructs associated hardware to perform, and that the program may be stored on a computer readable storage medium that when executed includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The mentioned storage medium may be a read-only memory, a magnetic or optical disk or the like. Although embodiments of the present invention have been shown and described above, it will be understood that the embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (5)
1. A wind turbine generator primary frequency modulation control method based on laser radar wind measurement is characterized by comprising the following steps:
collecting the incoming flow wind speed of the 100 meter cross section of the detection laser radar in the continuous detection period and preprocessing to obtain the incoming flow average wind speed of the 100 meter cross section of the detection laser radar in each continuous detection period;
constructing a frequency modulation control calculation model, inputting the average incoming flow wind speed of the 100-meter cross section of the detection laser radar in the preprocessed continuous detection period into the frequency modulation control calculation model, and outputting a result as a frequency modulation power control mode;
receiving a primary frequency modulation instruction transmitted by a primary frequency modulation device, and judging whether primary frequency modulation is needed or not based on the frequency modulation power control mode and the primary frequency modulation instruction;
when preprocessing the incoming wind speed of the 100 meter cross section of the detection laser radar in a continuous detection period, setting a wind speed filtering time constant, and performing the preprocessing by using a moving average method;
the step of obtaining the detection laser radar 100 meter cross section incoming flow average wind speed in each detection period comprises the following steps:
obtaining the incoming flow wind speed Vlidar_last of the 100 meter cross section of the laser radar in the previous detection period, removing high-frequency signals in the detected wind speed to enable wind speed input to be smoother, and performing filtering processing on the detected wind speed by using a wind speed filtering time constant Vfilter to obtain the incoming flow wind speed F_vlidar_last of the 100 meter cross section of the laser radar at the previous sampling point after filtering;
obtaining the incoming wind speed Vlidar_now of the 100-meter cross section of the laser radar in the current detection period, removing high-frequency signals in the detected wind speed to enable wind speed input to be smoother, and performing filtering processing on the detected wind speed by using a wind speed filtering time constant Vfilter to obtain the incoming wind speed F_vlidar_now of the 100-meter cross section of the laser radar at the current sampling point after filtering;
obtaining the incoming flow wind speed Vlidar_later of the 100 meter cross section of the laser radar in the later detection period, removing high-frequency signals in the detected wind speed to enable the wind speed input to be smoother, and performing filtering processing on the detected wind speed by using a wind speed filtering time constant Vfilter to obtain the incoming flow wind speed F_Vlidar_later of the 100 meter cross section of the laser radar at the later sampling point after filtering;
the 100 meter cross section incoming wind speeds of the laser radar corresponding to the previous sampling point, the current sampling point and the subsequent sampling point are the 100 meter cross section incoming wind speeds of the laser radar of the three sampling points before and after two continuous detection periods;
the frequency modulation control calculation model comprises:
the calculation module is used for calculating a frequency modulation control parameter through the previous sampling point laser radar 100 meter cross section incoming flow wind speed F_Vlidar_last, the current sampling point laser radar 100 meter cross section incoming flow wind speed F_Vlidar_now and the subsequent sampling point laser radar 100 meter cross section incoming flow wind speed F_Vlidar_later;
the judging module is used for setting a trigger threshold value, comparing the trigger threshold value with the frequency modulation control parameter and outputting the trigger threshold value as the frequency modulation power control mode;
the calculation module calculates the frequency modulation control parameter:
subtracting the filtered incoming flow wind speed F_Vlidar_later of the 100 meter cross section of the laser radar of the later sampling point from the filtered incoming flow wind speed F_Vlidar_now of the 100 meter cross section of the laser radar of the current sampling point to obtain an incoming flow wind speed difference diff_F_Vlidar_later-now of the 100 meter cross section of the laser radar of the later and the current sampling point;
subtracting the filtered incoming flow wind speed F_Vlidar_now of the 100-meter cross section of the current sampling point laser radar from the filtered incoming flow wind speed F_Vlidar_last of the 100-meter cross section of the previous sampling point laser radar to obtain an incoming flow wind speed difference diff_F_Vlidar_now-last of the 100-meter cross section of the current and previous sampling point laser radar;
obtaining a control period constant dT, and multiplying the control period constant dT by diff_F_vlidar_later-now and diff_F_vlidar_now-last respectively to obtain an area area_later-now formed by the wind speed difference between the later and the current sampling point in a single control period and an area area_now-last formed by the wind speed difference between the current and the previous sampling point in the single control period;
adding the wind speed differences to obtain an area sum area_last-now-later formed by the wind speed differences in two control periods, and obtaining an area accumulated value area_n of the laser radar in the working process through repeated calculation;
the judging module sets a trigger Threshold value area_threshold and compares the trigger Threshold value area_threshold with the calculated area accumulated value area_n; the trigger Threshold value area_threshold is set to be a plurality of incremental Threshold values, and the trigger Threshold values are respectively corresponding to different modulation power control modes; if the area accumulated value is larger than any one of the trigger thresholds, the frequency modulation power control mode corresponding to the current trigger threshold is judged.
2. The primary frequency modulation control method of the wind turbine generator set based on the laser radar wind measurement according to claim 1, wherein the primary frequency modulation device transmits a real-time primary frequency modulation action flag bit PFCflag; if the received primary frequency modulation action flag bit PFCflag is 0, the frequency modulation action is not executed; and if the received primary frequency modulation action flag bit PFCflag is 1, adjusting the active power of the laser radar to the same mode as the frequency modulation power control mode.
3. A primary frequency modulation control device of a wind turbine generator set based on laser radar wind measurement, for executing the control method of claim 1, comprising:
the data acquisition module is used for acquiring the incoming flow wind speed of the 100 meter cross section of the detection laser radar in the continuous detection period and preprocessing the incoming flow wind speed to obtain the incoming flow average wind speed of the 100 meter cross section of the detection laser radar in each continuous detection period;
the model construction module is used for constructing a frequency modulation control calculation model, inputting the preprocessed incoming flow average wind speed of the 100-meter cross section of the detection laser radar in the continuous detection period into the frequency modulation control calculation model, and outputting a result as a frequency modulation power control mode;
the frequency modulation control module is used for receiving a primary frequency modulation instruction transmitted by the primary frequency modulation device and judging whether primary frequency modulation is needed or not based on the frequency modulation power control mode and the primary frequency modulation instruction;
when preprocessing the incoming wind speed of the 100 meter cross section of the detection laser radar in a continuous detection period, setting a wind speed filtering time constant, and performing the preprocessing by using a moving average method;
the step of obtaining the detection laser radar 100 meter cross section incoming flow average wind speed in each detection period comprises the following steps:
obtaining the incoming flow wind speed Vlidar_last of the 100 meter cross section of the laser radar in the previous detection period, removing high-frequency signals in the detected wind speed to enable wind speed input to be smoother, and performing filtering processing on the detected wind speed by using a wind speed filtering time constant Vfilter to obtain the incoming flow wind speed F_vlidar_last of the 100 meter cross section of the laser radar at the previous sampling point after filtering;
obtaining the incoming wind speed Vlidar_now of the 100-meter cross section of the laser radar in the current detection period, removing high-frequency signals in the detected wind speed to enable wind speed input to be smoother, and performing filtering processing on the detected wind speed by using a wind speed filtering time constant Vfilter to obtain the incoming wind speed F_vlidar_now of the 100-meter cross section of the laser radar at the current sampling point after filtering;
obtaining the incoming flow wind speed Vlidar_later of the 100 meter cross section of the laser radar in the later detection period, removing high-frequency signals in the detected wind speed to enable the wind speed input to be smoother, and performing filtering processing on the detected wind speed by using a wind speed filtering time constant Vfilter to obtain the incoming flow wind speed F_Vlidar_later of the 100 meter cross section of the laser radar at the later sampling point after filtering;
the 100 meter cross section incoming wind speeds of the laser radar corresponding to the previous sampling point, the current sampling point and the subsequent sampling point are the 100 meter cross section incoming wind speeds of the laser radar of the three sampling points before and after two continuous detection periods;
the frequency modulation control calculation model comprises:
the calculation module is used for calculating a frequency modulation control parameter through the previous sampling point laser radar 100 meter cross section incoming flow wind speed F_Vlidar_last, the current sampling point laser radar 100 meter cross section incoming flow wind speed F_Vlidar_now and the subsequent sampling point laser radar 100 meter cross section incoming flow wind speed F_Vlidar_later;
the judging module is used for setting a trigger threshold value, comparing the trigger threshold value with the frequency modulation control parameter and outputting the trigger threshold value as the frequency modulation power control mode;
the calculation module calculates the frequency modulation control parameter:
subtracting the filtered incoming flow wind speed F_Vlidar_later of the 100 meter cross section of the laser radar of the later sampling point from the filtered incoming flow wind speed F_Vlidar_now of the 100 meter cross section of the laser radar of the current sampling point to obtain an incoming flow wind speed difference diff_F_Vlidar_later-now of the 100 meter cross section of the laser radar of the later and the current sampling point;
subtracting the filtered incoming flow wind speed F_Vlidar_now of the 100-meter cross section of the current sampling point laser radar from the filtered incoming flow wind speed F_Vlidar_last of the 100-meter cross section of the previous sampling point laser radar to obtain an incoming flow wind speed difference diff_F_Vlidar_now-last of the 100-meter cross section of the current and previous sampling point laser radar;
obtaining a control period constant dT, and multiplying the control period constant dT by diff_F_vlidar_later-now and diff_F_vlidar_now-last respectively to obtain an area area_later-now formed by the wind speed difference between the later and the current sampling point in a single control period and an area area_now-last formed by the wind speed difference between the current and the previous sampling point in the single control period;
adding the wind speed differences to obtain an area sum area_last-now-later formed by the wind speed differences in two control periods, and obtaining an area accumulated value area_n of the laser radar in the working process through repeated calculation;
the judging module sets a trigger Threshold value area_threshold and compares the trigger Threshold value area_threshold with the calculated area accumulated value area_n; the trigger Threshold value area_threshold is set to be a plurality of incremental Threshold values, and the trigger Threshold values are respectively corresponding to different modulation power control modes; if the area accumulated value is larger than any one of the trigger thresholds, the frequency modulation power control mode corresponding to the current trigger threshold is judged.
4. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to any of claims 1-2 when executing the computer program.
5. A non-transitory computer readable storage medium, having stored thereon a computer program, which when executed by a processor, implements the method according to any of claims 1-2.
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| CN111502915A (en) * | 2020-04-20 | 2020-08-07 | 国电联合动力技术有限公司 | Wind turbine generator intelligent control system and method based on laser radar wind measurement |
| CN112031998A (en) * | 2020-09-21 | 2020-12-04 | 山东中车风电有限公司 | Wind turbine generator independent variable pitch control optimization method and system based on laser radar |
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| CN111502915A (en) * | 2020-04-20 | 2020-08-07 | 国电联合动力技术有限公司 | Wind turbine generator intelligent control system and method based on laser radar wind measurement |
| CN112031998A (en) * | 2020-09-21 | 2020-12-04 | 山东中车风电有限公司 | Wind turbine generator independent variable pitch control optimization method and system based on laser radar |
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