CN114458534B - Wind turbine generator rotating speed control method and system - Google Patents
Wind turbine generator rotating speed control method and system Download PDFInfo
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- CN114458534B CN114458534B CN202210008772.4A CN202210008772A CN114458534B CN 114458534 B CN114458534 B CN 114458534B CN 202210008772 A CN202210008772 A CN 202210008772A CN 114458534 B CN114458534 B CN 114458534B
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/10—Purpose of the control system
- F05B2270/101—Purpose of the control system to control rotational speed (n)
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/327—Rotor or generator speeds
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- 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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Abstract
The invention relates to a method and a system for controlling the rotating speed of a wind turbine, wherein the method comprises the following steps: when the rotation speed of the generator after the current time is filtered is in a preset rotation speed range, the rotation speed of the generator after the current time and the rotation speed of the generator after the current time are obtained; determining the acceleration of the generator rotation speed difference between the current moment and the moment before the current moment by using the obtained rotation speed filtered at the current moment of the generator and the rotation speed filtered at the moment before the current moment; and selecting a wind turbine generator rotating speed control scheme according to the acceleration of the generator rotating speed difference, and controlling the wind turbine generator rotating speed. According to the technical scheme provided by the invention, the control of the rotating speed of the wind turbine generator is realized, and the problem that the generated energy is lost due to the fact that the wind turbine generator can perform pitch motion under the normal power generation working condition is avoided.
Description
Technical Field
The invention relates to the technical field of wind turbine generator control, in particular to a wind turbine generator rotating speed control method and system.
Background
When the wind generating set normally operates in a traditional control mode, when the wind speed reaches the vicinity of the rated wind speed, the minimum pitch angle is kept at the optimal pitch angle position, if a large gust is encountered at this time, the minimum pitch angle is at the optimal position and too fast feathering action cannot be made, so that the tower thrust of the set is too large, the development cost of the set is increased, or the set cannot be transported due to the too large size of the tower. In addition, clearance between the blades and the tower can be small, and the risk of blade tower sweeping is easy to occur, so that the operation safety of the unit is threatened. The implementation method of the prior art scheme comprises the following steps: the minimum pitch angle of the wind generating set is dynamically adjusted based on the detected output power, so that the problems that in a traditional control mode, the minimum pitch angle near the rated wind speed is in an optimal position and the tower thrust is too large and the clearance is too small due to the fact that the minimum pitch angle is not moved are solved, the design cost of the wind generating set is reduced, and meanwhile, the operation safety of the wind generating set is improved. However, in the prior art, the output power of the wind generating set is only used as a judging condition, and although the pitch-changing action can be performed in advance under the condition of severe change of wind speed and wind direction, the pitch-changing action can be performed under the normal power generation working condition, so that the power generation capacity is lost.
Disclosure of Invention
The method and the system for controlling the rotating speed of the wind turbine at least solve the technical problem that the generating capacity is lost due to the fact that the pitch-variable action is carried out under the normal generating working condition in the related technology.
An embodiment of a first aspect of the present application provides a method for controlling a rotational speed of a wind turbine, including:
when the rotation speed of the generator after the current time is filtered is in a preset rotation speed range, the rotation speed of the generator after the current time and the rotation speed of the generator after the current time are obtained;
determining the acceleration of the generator rotation speed difference between the current moment and the moment before the current moment by using the obtained rotation speed filtered at the current moment of the generator and the rotation speed filtered at the moment before the current moment;
selecting a wind turbine generator rotating speed control scheme according to the acceleration of the generator rotating speed difference, and controlling the wind turbine generator rotating speed;
the scheme for controlling the rotating speed of the wind turbine generator comprises the following steps: the wind turbine generator system speed first control scheme and the wind turbine generator system speed second control scheme.
An embodiment of a second aspect of the present application provides a wind turbine generator system rotational speed control system, including:
the acquisition module is used for acquiring the rotation speed of the generator at the current moment and the rotation speed of the generator at the previous moment when the rotation speed of the generator at the current moment is within a preset rotation speed range;
the determining module is used for determining the acceleration of the generator rotation speed difference between the current moment and the moment before the current moment by using the obtained rotation speed filtered at the current moment of the generator and the rotation speed filtered at the moment before the current moment;
the control module is used for selecting a wind turbine generator rotating speed control scheme according to the acceleration of the generator rotating speed difference and controlling the wind turbine generator rotating speed;
the scheme for controlling the rotating speed of the wind turbine generator comprises the following steps: the wind turbine generator system speed first control scheme and the wind turbine generator system speed second control scheme.
An embodiment of a third aspect of the present application proposes 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 prediction method as in the first aspect of the present application when executing the computer program.
Embodiments of the fourth aspect of the present application provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a prediction method as in the first aspect of the present application.
The technical scheme provided by the embodiment of the application at least brings the following beneficial effects:
the invention provides a method and a system for controlling the rotating speed of a wind turbine, wherein the method comprises the following steps: when the rotation speed of the generator after the current time is filtered is in a preset rotation speed range, the rotation speed of the generator after the current time and the rotation speed of the generator after the current time are obtained; determining the acceleration of the generator rotation speed difference between the current moment and the moment before the current moment by using the obtained rotation speed filtered at the current moment of the generator and the rotation speed filtered at the moment before the current moment; and selecting a wind turbine generator rotating speed control scheme according to the acceleration of the generator rotating speed difference, and controlling the wind turbine generator rotating speed. The control of the rotating speed of the wind turbine generator is realized, and the problem that the generated energy is lost due to the fact that the wind turbine generator can perform pitch motion under the normal power generation working condition is avoided.
Additional aspects and advantages of the application 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 application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, wherein:
FIG. 1 is a flowchart of a method for controlling rotational speed of a wind turbine according to an embodiment of the present application;
FIG. 2 is a flowchart of a method for controlling a rotational speed of a wind turbine according to an embodiment of the present disclosure;
FIG. 3 is a block diagram of a wind turbine rotational speed control system according to one embodiment of the present application;
fig. 4 is a block diagram of a determining module in a wind turbine rotational speed control system according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The application provides a method and a system for controlling the rotating speed of a wind turbine, wherein the method comprises the following steps: when the rotation speed of the generator after the current time is filtered is in a preset rotation speed range, the rotation speed of the generator after the current time and the rotation speed of the generator after the current time are obtained; determining the acceleration of the generator rotation speed difference between the current moment and the moment before the current moment by using the obtained rotation speed filtered at the current moment of the generator and the rotation speed filtered at the moment before the current moment; and selecting a wind turbine generator rotating speed control scheme according to the acceleration of the generator rotating speed difference, and controlling the wind turbine generator rotating speed. The control of the rotating speed of the wind turbine generator is realized, and the problem that the generated energy is lost due to the fact that the wind turbine generator can perform pitch motion under the normal power generation working condition is avoided.
A method and a system for controlling the rotation speed of a wind turbine generator according to the embodiments of the present application are described below with reference to the accompanying drawings.
Example 1
Fig. 1 is a flowchart of a method for controlling a rotational speed of a wind turbine, according to an embodiment of the disclosure, as shown in fig. 1, where the method includes:
step 1: and when the rotation speed of the generator after the current time is filtered in a preset rotation speed range, acquiring the rotation speed of the generator after the current time and the rotation speed of the generator after the current time is filtered at the previous time.
In the embodiment of the disclosure, detecting the generator rotation speed omega1 at the current moment by a generator rotation speed measuring device, and transmitting a measuring signal to a main control PLC; and filtering the generator rotation speed omega1 at the current moment, and filtering the rotation speed value f_omega1 of the generator at the current moment.
Detecting the generator rotating speed omega2 at the previous time at the current moment by a generator rotating speed measuring device, and transmitting a measuring signal to a main control PLC; and filtering the generator rotation speed omega2 at the previous time at the current moment to obtain a rotation speed value f_omega2 after filtering at the previous time at the current moment of the generator.
The method comprises the steps that under the influence of a measuring mode, signal conversion, an estimating method and the like of a generator rotating speed measuring device, an interference component exists in a rotating speed signal obtained by direct measurement of the generator rotating speed measuring device, and the direct participation of the interference component in a control algorithm is not suitable, so that low-pass filtering processing is carried out on the generator rotating speed omega1 at the current moment to obtain a rotating speed value f_omega1 after the current moment of the generator is filtered; and performing low-pass filtering processing on the generator rotating speed omega2 at the previous time at the current moment to obtain a rotating speed value f_omega2 after filtering at the previous time at the current moment of the generator.
Step 2: and determining the acceleration of the generator rotation speed difference between the current moment and the moment before the current moment by using the obtained rotation speed filtered at the current moment of the generator and the rotation speed filtered at the moment before the current moment.
In an embodiment of the present disclosure, the determining, by using the obtained rotation speed filtered at the current time of the generator and the rotation speed filtered at the previous time of the current time, the acceleration of the rotation speed difference between the current time and the generator at the previous time includes:
s1: determining a difference value between a rotation speed filtered at the current moment of a generator and a rotation speed filtered at the moment before the current moment;
for example, a set value omega_sp1 of the rotation speed of the current moment of the generator is obtained, and the filtered value f_omega1 of the rotation speed of the current moment of the generator is subtracted from the set value omega_sp1 of the rotation speed of the current moment of the generator to obtain a difference diff_omega1 of the rotation speed of the current moment of the generator;
acquiring a set value omega-sp 2 of the rotation speed at the previous moment of the current moment of the generator, and subtracting the set value omega-sp 2 of the rotation speed at the previous moment of the current moment of the generator from the filtered rotation speed value f-omega 2 at the previous moment of the current moment of the generator to obtain a difference diff-omega 2 of the rotation speed at the previous moment of the current moment of the generator;
and (3) taking the difference between the current moment rotating speed difference diff_omega1 of the generator and the moment rotating speed difference diff_omega2 of the current moment of the generator to obtain a generator rotating speed difference diff_omega12 between the current moment and the moment before the current moment, namely a generator rotating speed difference diff_omega12 between the moment and the moment after the current moment.
S2: dividing the difference by the time difference between the current time and the previous time to obtain the acceleration of the rotation speed difference of the generator between the current time and the previous time.
Illustratively, a detection control period constant DT is obtained;
the acceleration acc_omega12 of the generator speed difference at the previous and subsequent times is obtained by dividing the generator current time speed difference diff_omega1 by the control period constant DT.
Step 3: selecting a wind turbine generator rotating speed control scheme according to the acceleration of the generator rotating speed difference, and controlling the wind turbine generator rotating speed;
it should be noted that, the wind turbine generator rotational speed control scheme includes: the wind turbine generator system speed first control scheme and the wind turbine generator system speed second control scheme.
It should be noted that, in order to ensure that the control function opening range is within the preset range, whether the rotation speed value f_omega1 filtered at the current moment of the generator is within the preset range is judged, if not, the algorithm logic is terminated, and if yes, the acceleration acc_omega12 of the rotation speed difference of the generator and the acceleration Threshold value acc_threshold of the rotation speed difference of the generator at the preset front and rear moments are simultaneously judged.
The preset range of the filtered rotation speed value f_omega1 at the current moment of the generator is (up_omega, down_omega), that is, the acting rotation speed range up_omega, down_omega, and in the control logic of the wind generating set, there is a fixed formula between the grid-connected rotation speed and the rated rotation speed, that is, the generator torque=the optimal gain is the generator rotation speed, and the pitch control is performed near and above the rated rotation speed so as to maintain the generator rotation speed near the rated rotation speed, so that the setting of the rotation speed area range ensures that the control function only acts between the grid-connected rotation speed and the rated rotation speed or in a rotation speed interval smaller than the preset range, and therefore whether the filtered rotation speed value f_omega1 at the current moment of the generator is in the preset range needs to be judged.
In an embodiment of the disclosure, the selecting a wind turbine rotational speed control scheme according to the acceleration of the generator rotational speed difference includes:
firstly, acquiring an acceleration Threshold value acc_threshold of a preset generator rotating speed difference, judging whether the acceleration acc_omega12 of the generator rotating speed difference is larger than the acceleration Threshold value acc_threshold of the preset generator rotating speed difference, if so, selecting a first control scheme of the rotating speed of the wind turbine generator set, if not, selecting a second control scheme of the rotating speed of the wind turbine generator set.
It should be noted that, in the present application, the detection of the rotation speed of the generator is used as the condition input for determining the extreme gust, but not limited to this method, and other measurement signals such as wind speed, anemometer, wind direction detection, generator power, pitch angle, pitch rate, etc.
In an embodiment of the present disclosure, the first control scheme for the rotational speed of the wind turbine includes:
acquiring a preset first optimal gain, taking the preset first optimal gain as a torque-rotating speed control optimal gain Kopt_control of the wind turbine, and multiplying the square of the rotating speed of the generator after the current moment of the generator by the first optimal gain to obtain a torque command value DemandTorque of the generator corresponding to the current moment;
transmitting a torque command value demandsequence of the generator corresponding to the current moment to a converter to execute the torque command value demandsequence, and controlling the rotating speed of the wind turbine generator; the rotation speed of the generator is effectively reduced by the aid of the larger optimal gain value Kopt_control, so that the rotation speed of the generator is reduced in a mode that the optimal gain of the set control parameters is reduced in a certain range under the condition of extreme gust, the limit load of the large part is reduced, and the tower clearance of the generator is increased.
The second control scheme of the rotating speed of the wind turbine generator comprises the following steps:
obtaining a torque-rotating speed control optimal gain Kopt of a wind turbine generator, maintaining a torque-rotating speed control optimal gain setting value of the wind turbine generator as a second optimal gain unchanged, taking the preset second optimal gain as the torque-rotating speed control optimal gain of the wind turbine generator, and multiplying the second optimal gain by the square of a rotating speed f_omega1 filtered at the current moment of the generator to obtain a torque command value demandtwise of the generator corresponding to the current moment;
wherein Kopt is the optimal gain of the unit, and the calculation formula is as follows: kopt=row×pi×rζ5×cpmax/(2×lamdaopt ζ3), where row is air density, pi is circumferential rate, R is impeller diameter, cpmax is optimal wind energy utilization coefficient, and lamdaopt is tip speed ratio at optimal wind energy utilization coefficient.
And transmitting a torque command value demandsequence of the generator corresponding to the current moment to a converter to execute the torque command value, and controlling the rotating speed of the wind turbine generator.
In an embodiment of the present disclosure, the preset first optimal gain is greater than or equal to 1.1 times the second optimal gain.
It should be noted that, in the present application, a manner of directly specifying the updated optimal gain is adopted to change the optimal gain, but the method is not limited to this manner, and other methods include multiplying the original optimal gain by a multiple or obtaining the optimal gain in a table look-up manner; in the present application, the rotation speed control is performed by only scheduling the original optimal gain to another higher optimal gain, but the method is not limited to this mode, and other modes, such as a mode of setting a plurality of optimal gains to schedule in a plurality of rotation speed segments, are adopted.
In summary, if the preset acceleration Threshold value acc_threshold of the generator speed difference is greater than the preset acceleration acc_omega12 Threshold of the generator speed difference, the unit is considered to encounter extreme gusts, and the optimal gain in the speed-torque control loop is scheduled to obtain a larger optimal gain value kopt_control; if the preset acceleration Threshold value acc_threshold of the generator speed difference is smaller than the preset acceleration acc_omega12 Threshold of the generator speed difference, the unit is considered to not suffer from operation data fluctuation caused by extreme wind conditions, and the unit can keep the original optimal gain Kopt for speed-torque control. The load reduction control is carried out on the limit load of the large component of the unit under the condition of polar gusts in a mode that the optimal gain in the acting wind speed range is scheduled so as to influence the rotation speed of the generator.
In the present application, the rotation speed of the generator is detected as a condition input for determining whether to perform optimal gain scheduling, but the present invention is not limited to this method, and other measurement signals such as pitch angle, active power, wind speed, etc.
The method for judging the unit entering the extreme gust is a method for judging the rotational speed change rate, but is not limited to the method, and other methods such as the wind speed change rate, long and short time wind speed difference, the product of the rotational speed difference and the change rate and the like are adopted.
The specific method of the present application is illustrated by combining the above-mentioned method for controlling the rotational speed of a wind turbine, and a specific flowchart of a method for controlling the rotational speed of a wind turbine is provided as shown in fig. 2, where the method includes:
and F1, detecting the rotation speed omega1 of the generator at the current moment, and transmitting a measurement signal to the master control PLC.
And F2, because of the measurement mode, signal conversion, estimation method and the like of the generator rotating speed measurement device, the directly obtained rotating speed measurement signal has interference components and is not suitable for directly participating in a control algorithm.
And F3, carrying out low-pass filtering on the generator rotation speed omega1 at the current moment to obtain a rotation speed value f_omega1 of the generator after the current filtering at the current moment.
And F4, detecting a set value omega sp1 of the rotating speed of the generator at the current moment.
And F5, subtracting the set value omega-sp 1 of the current moment of the generator from the filtered value F-omega 1 of the current moment of the generator.
And F6, acquiring a rotation speed difference diff_omega1 of the generator at the current moment.
And F7, detecting the rotation speed of the generator in the previous measurement period, namely detecting the rotation speed omega2 of the generator in the previous time at the current moment, and transmitting a measurement signal to the master control PLC.
And F8, carrying out the same low-pass filtering on the rotation speed of the generator in the previous measurement period according to the principle in the step F3, and obtaining a rotation speed value f_omega2 after the filtering in the previous moment of the current moment of the generator after the filtering in the previous measurement period.
Step F9, detecting the set value of the generator rotating speed in the previous measuring period, namely the set value omega_sp2 of the rotating speed in the previous moment at the current moment.
And F10, subtracting the rotation speed set value omega_sp2 at the previous moment of the current moment by the rotation speed value f_omega2 filtered at the previous moment of the current moment of the generator filtered at the previous measurement period.
And F11, acquiring the rotation speed difference of the generator in the previous measurement period, namely acquiring the rotation speed difference diff_omega2 of the generator at the previous moment.
And F12, making a difference between the rotation speed difference diff_omega1 of the current moment of the generator and the rotation speed difference diff_omega2 of the previous moment of the current moment of the generator.
And F13, acquiring a difference value diff_omega12 of the rotation speed difference of the generator at the front and rear moments.
And F14, detecting a control period constant DT.
Step F15, dividing the generator speed difference diff_omega12 between the front and rear moments by the control period constant DT.
And F16, acquiring the acceleration acc_omega12 of the generator rotation speed difference at the front and rear moments.
And F17, acquiring a generator rotation speed difference acceleration Threshold value acc_threshold at the front and rear moments.
And F18, judging the magnitude of the acceleration acc_omega12 of the generator rotating speed difference before and after the moment and the magnitude of the generator rotating speed acceleration Threshold acc_threshold before and after the moment.
Step F19, obtaining the action speed range Up_omega and Down_omega.
Step F20, judging whether the filtered rotation speed value f_omega1 of the current time of the current filtered generator of step F3 is in the (Up_omega, down_omega) interval.
And F21, if not, terminating the algorithm logic.
And F22, if so, entering a step F23.
And F23, if the acceleration acc_omega12 of the generator speed difference at the front and rear moments is smaller than the acceleration Threshold value acc_threshold of the generator speed difference at the front and rear moments, the unit is considered to not encounter extreme gusts.
And F24, obtaining the torque-rotating speed control optimal gain Kopt of the wind generating set.
And F25, maintaining a torque-rotating speed control optimal gain setting value of the wind generating set to be constant, wherein Kopt is the optimal gain of the wind generating set, and a calculation formula is Kopt=row pi R5 Cpmax/(2 lamd aopt 3). Wherein row is air density, pi is circumferential rate, R is impeller diameter, cpmax is optimal wind energy utilization coefficient, and lamdaopt is tip speed ratio under the optimal wind energy utilization coefficient.
Step F26: and F3, multiplying the Kopt value by the square of the filtered rotation speed value f_omega1 at the current moment of the filtered generator obtained in the step F3 to obtain a torque command value demandsequence of the generator at the moment.
Step F27: and transmitting a torque command value demandsequence of the generator to the converter to execute the torque command.
Step F28: if the acceleration acc_omega12 of the generator speed difference at the front and rear time is greater than the acceleration Threshold acc_threshold of the generator speed difference at the front and rear time, the unit is considered to encounter extreme gusts.
Step F29: the optimal gain Kopt_control for torque-rotating speed control of the latest scheduled wind generating set is obtained and is generally more than 1.1 times of Kopt.
Step F30: the torque command value demandsequence of the generator at this time is obtained by multiplying the Kopt_control value by the square of the filtered generator speed f_omega1 obtained in step F3.
Step F31: and transmitting a torque command value demandsequence of the generator to the converter to execute the torque command.
In summary, in the method for controlling the rotational speed of the wind turbine generator according to the embodiment of the present disclosure, when the rotational speed f_omega1 filtered at the current time of the generator is within the preset rotational speed range, the rotational speed f_omega1 filtered at the current time of the generator and the rotational speed f_omega2 filtered at the previous time of the current time of the generator are obtained; determining the acceleration acc_omega12 of the generator rotation speed difference between the current moment and the moment before the current moment by using the obtained rotation speed f_omega1 filtered at the current moment of the generator and the rotation speed f_omega2 filtered at the moment before the current moment of the generator; and selecting a wind turbine generator rotating speed control scheme according to the acceleration acc_omega12 of the generator rotating speed difference, and controlling the wind turbine generator rotating speed. The control of the rotating speed of the wind turbine generator is realized, and the problem that the generated energy is lost due to the fact that the wind turbine generator can perform pitch motion under the normal power generation working condition is avoided.
Example 2
Fig. 3 is a system diagram of a wind turbine rotational speed control system according to an embodiment of the present disclosure, as shown in fig. 3, where the system includes:
the obtaining module 100 is configured to obtain the rotation speed filtered at the current moment of the generator and the rotation speed filtered at the previous moment of the current moment of the generator when the rotation speed filtered at the current moment of the generator is within a preset rotation speed range;
a determining module 200, configured to determine an acceleration of a generator rotational speed difference between the current time and a time before the current time by using the obtained rotational speed filtered at the current time of the generator and the rotational speed filtered at the time before the current time;
the control module 300 is configured to select a wind turbine generator rotational speed control scheme according to the acceleration of the generator rotational speed difference, and control the wind turbine generator rotational speed;
the scheme for controlling the rotating speed of the wind turbine generator comprises the following steps: the wind turbine generator system speed first control scheme and the wind turbine generator system speed second control scheme.
In an embodiment of the present disclosure, as shown in fig. 4, the determining module 200 includes:
a first determining unit 201, configured to determine a difference between a rotation speed filtered at a current time of the generator and a rotation speed filtered at a time previous to the current time;
a second determining unit 201 is configured to divide the difference by a time difference between the current time and a time before the current time to obtain an acceleration of the difference between the rotation speeds of the generator at the current time and the time before the current time.
In an embodiment of the present disclosure, the control module 300 is specifically configured to:
judging whether the acceleration of the generator rotating speed difference is larger than a preset acceleration threshold value, if so, selecting a first control scheme of the rotating speed of the wind turbine, otherwise, selecting a second control scheme of the rotating speed of the generator.
The first control scheme of the rotating speed of the wind turbine generator comprises the following steps:
acquiring a preset first optimal gain, taking the preset first optimal gain as a torque-rotating speed control optimal gain Kopt_control of the wind turbine, and multiplying the square of the rotating speed of the generator after the current moment of the generator by the first optimal gain to obtain a torque command value DemandTorque of the generator corresponding to the current moment;
transmitting a torque command value demandsequence of the generator corresponding to the current moment to a converter to execute the torque command value, and controlling the rotating speed of the wind turbine generator;
the second control scheme of the rotating speed of the wind turbine generator comprises the following steps:
obtaining a torque-rotating speed control optimal gain Kopt of a wind turbine generator, maintaining a torque-rotating speed control optimal gain setting value of the wind turbine generator as a second optimal gain unchanged, taking the preset second optimal gain as the torque-rotating speed control optimal gain of the wind turbine generator, and multiplying the second optimal gain by the square of a rotating speed f_omega1 filtered at the current moment of the generator to obtain a torque command value demandtwise of the generator corresponding to the current moment;
and transmitting a torque command value demandsequence of the generator corresponding to the current moment to a converter to execute the torque command value, and controlling the rotating speed of the wind turbine generator.
In summary, according to the wind turbine generator rotational speed control system provided by the embodiment of the disclosure, the technical problem of generating capacity loss caused by the pitch-variable action under the normal generating working condition is solved, and the wind turbine generator rotational speed control system provided by the invention realizes control of the wind turbine generator rotational speed and avoids generating capacity loss caused by the pitch-variable action under the normal generating working condition of the wind turbine generator.
Example 3
In order to implement the above-mentioned embodiments, the present disclosure also proposes a computer device.
The computer device provided in this embodiment includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method in embodiment 1.
Example 4
To achieve the above embodiments, the present disclosure also proposes a non-transitory computer-readable storage medium.
The present embodiment provides a computer device having a computer program stored thereon, which when executed by a processor implements the method in embodiment 1.
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 application. In this specification, schematic representations of the above 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.
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 application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (8)
1. The method for controlling the rotating speed of the wind turbine generator is characterized by comprising the following steps of: when the rotation speed of the generator after the current time is filtered is in a preset rotation speed range, the rotation speed of the generator after the current time and the rotation speed of the generator after the current time are obtained; determining the acceleration of the generator rotation speed difference between the current moment and the moment before the current moment by using the obtained rotation speed filtered at the current moment of the generator and the rotation speed filtered at the moment before the current moment; selecting a wind turbine generator rotating speed control scheme according to the acceleration of the generator rotating speed difference, and controlling the wind turbine generator rotating speed; the scheme for controlling the rotating speed of the wind turbine generator comprises the following steps: a first control scheme of the rotating speed of the wind turbine generator and a second control scheme of the rotating speed of the wind turbine generator;
the determining the acceleration of the difference between the current moment and the generator rotation speed at the previous moment by using the obtained rotation speed filtered at the current moment of the generator and the rotation speed filtered at the previous moment of the current moment comprises the following steps: determining a difference value between a rotation speed filtered at the current moment of a generator and a rotation speed filtered at the moment before the current moment; dividing the difference by the time difference between the current time and the previous time to obtain the acceleration of the rotation speed difference of the generator between the current time and the previous time.
2. The method of claim 1, wherein the selecting a wind turbine rotational speed control scheme based on the acceleration of the generator rotational speed differential comprises: judging whether the acceleration of the generator rotating speed difference is larger than a preset acceleration threshold value, if so, selecting a first control scheme of the rotating speed of the wind turbine, otherwise, selecting a second control scheme of the rotating speed of the wind turbine.
3. The method of claim 2, wherein the first control scheme for wind turbine speed comprises: taking a preset first optimal gain as the optimal gain for controlling the torque-rotating speed of the wind turbine, and multiplying the first optimal gain by the square of the rotating speed of the generator after the current moment is filtered to obtain a torque command value of the generator corresponding to the current moment; the torque command value of the generator corresponding to the current moment is sent to a converter to execute the torque command value, and the rotating speed of the wind turbine generator is controlled; the second control scheme of the rotating speed of the wind turbine generator comprises the following steps: maintaining a torque-rotating speed control optimal gain setting value of the wind turbine generator set as a second optimal gain, taking the preset second optimal gain as the torque-rotating speed control optimal gain of the wind turbine generator set, and multiplying the second optimal gain by the square of the rotating speed of the generator after the current moment of filtering to obtain a torque command value of the generator corresponding to the current moment; and sending the torque command value of the generator corresponding to the current moment to a converter to execute the torque command value, and controlling the rotating speed of the wind turbine generator.
4. A method according to claim 3, wherein the preset first optimal gain is 1.1 times or more the second optimal gain.
5. A wind turbine rotational speed control system, the system comprising: the acquisition module is used for acquiring the rotation speed of the generator at the current moment and the rotation speed of the generator at the previous moment when the rotation speed of the generator at the current moment is within a preset rotation speed range; the determining module is used for determining the acceleration of the generator rotation speed difference between the current moment and the moment before the current moment by using the obtained rotation speed filtered at the current moment of the generator and the rotation speed filtered at the moment before the current moment; the control module is used for selecting a wind turbine generator rotating speed control scheme according to the acceleration of the generator rotating speed difference and controlling the wind turbine generator rotating speed; the scheme for controlling the rotating speed of the wind turbine generator comprises the following steps: a first control scheme of the rotating speed of the wind turbine generator and a second control scheme of the rotating speed of the wind turbine generator;
the method for selecting the rotating speed control scheme of the wind turbine generator according to the acceleration of the rotating speed difference of the generator comprises the following steps: judging whether the acceleration of the generator rotating speed difference is larger than a preset acceleration threshold value, if so, selecting a first control scheme of the rotating speed of the wind turbine, otherwise, selecting a second control scheme of the rotating speed of the wind turbine.
6. The system of claim 5, wherein the first control scheme for wind turbine speed comprises: taking a preset first optimal gain as the optimal gain for controlling the torque-rotating speed of the wind turbine, and multiplying the first optimal gain by the square of the rotating speed of the generator after the current moment is filtered to obtain a torque command value of the generator corresponding to the current moment; the torque command value of the generator corresponding to the current moment is sent to a converter to execute the torque command value, and the rotating speed of the wind turbine generator is controlled; the second control scheme of the rotating speed of the wind turbine generator comprises the following steps: maintaining a torque-rotating speed control optimal gain setting value of the wind turbine generator set as a second optimal gain, taking the preset second optimal gain as the torque-rotating speed control optimal gain of the wind turbine generator set, and multiplying the second optimal gain by the square of the rotating speed of the generator after the current moment of filtering to obtain a torque command value of the generator corresponding to the current moment; and sending the torque command value of the generator corresponding to the current moment to a converter to execute the torque command value, and controlling the rotating speed of the wind turbine generator.
7. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, which processor, when executing the program, implements the method according to any of claims 1 to 4.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1 to 4.
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| CN111852761A (en) * | 2019-04-30 | 2020-10-30 | 北京金风科创风电设备有限公司 | Rotating speed control method and device of wind generating set |
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| EP2365215B1 (en) * | 2010-03-10 | 2012-12-12 | Siemens Aktiengesellschaft | Rotational speed control of a wind turbine based on rotor acceleration |
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| CN103758698A (en) * | 2014-01-22 | 2014-04-30 | 北京金风科创风电设备有限公司 | Rotating speed control method and system for wind turbine generator |
| CN104405581A (en) * | 2014-10-24 | 2015-03-11 | 北京金风科创风电设备有限公司 | Wind generating set rotating speed control method and control system |
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