CN114623042B - Permanent magnet wind driven generator variable pitch control system and method of laser wind-finding radar - Google Patents

Permanent magnet wind driven generator variable pitch control system and method of laser wind-finding radar Download PDF

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Publication number
CN114623042B
CN114623042B CN202210256738.9A CN202210256738A CN114623042B CN 114623042 B CN114623042 B CN 114623042B CN 202210256738 A CN202210256738 A CN 202210256738A CN 114623042 B CN114623042 B CN 114623042B
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power generation
pitch
pitch angle
wind
wind speed
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CN114623042A (en
Inventor
何山
王维庆
程静
闫学勤
张强
王海云
袁至
樊小朝
武家辉
李振恩
韩璐
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Xinjiang University
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Xinjiang University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • 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
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
    • F05B2260/76—Adjusting of angle of incidence or attack of rotating blades the adjusting mechanism using auxiliary power sources
    • 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
    • F05B2270/103—Purpose of the control system to affect the output of the engine
    • F05B2270/1033—Power (if explicitly mentioned)
    • 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
    • F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
    • F05B2270/804—Optical devices
    • F05B2270/8042—Lidar systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Abstract

The invention discloses a pitch control system and a pitch control method of a permanent magnet wind driven generator of a laser wind-finding radar, which establish a first matching relation for carrying out numerical quantification on the wind speed, the current pitch angle and the power generation parameter by utilizing a big data processing mode; the wind power generation control system acquires the power generation parameters of the wind power generator secondarily in real time, calculates the change value of the pitch angle based on the power generation parameters measured for a plurality of times and the first matching relation, and establishes a second matching relation between the difference value of the power generation parameters and the change value of the pitch angle; according to the time acquisition points for acquiring two power generation parameters when calculating the pitch angle change value each time, determining a third matching relation between the driving time length of the variable pitch driving module and the pitch angle change value; calculating a driving time length based on rated power of the generator, the second matching relation and the third matching relation, and adjusting the pitch angle of the blade by the variable pitch driving module according to the driving time length; the invention improves the precision of the pitch control and accelerates the speed of the pitch control.

Description

Permanent magnet wind driven generator variable pitch control system and method of laser wind-finding radar
Technical Field
The invention relates to the technical field of wind-finding radars, in particular to a permanent magnet wind-driven generator pitch control system and method of a laser wind-finding radar.
Background
The energy transmission and conversion paths in the wind driven generator system are as follows: the wind turbine converts kinetic energy of captured flowing air into mechanical energy, the permanent magnet synchronous generator in the direct drive system converts the mechanical energy transmitted by the wind turbine into uncontrolled electric energy with frequency and voltage changing along with the change of wind speed, and the converter converts the uncontrolled electric energy into controllable electric energy with frequency and voltage synchronous with a power grid and feeds the controllable electric energy into the power grid, so that the power generation grid-connected control of the direct drive system is finally realized.
The pitch system is used for adjusting the capability of the wind turbine to capture flowing air, so as to start the wind turbine or stabilize the power generated by the wind turbine, and therefore, the control of the pitch system comprises three aspects: a start-up state, an under-power state, and a rated power state. Most of the existing kinetic energy systems of the pitch-variable and size-adjusting mechanisms are driven by air cylinders or motors, wherein the electric pitch-variable system takes commercial power in a wind turbine as a power source, the electric servo system drives blades to complete pitch angle adjustment after transmission through a speed reducing mechanism, and the electric pitch-variable system usually consists of a driving unit, an electric motor, an energy storage unit (a battery or a capacitor), a logic control unit and an external sensor. The calculation mode of the change value of the pitch angle is obtained through the transmission ratio of the electric servo system and the rotation of the blade, namely, the change value of the pitch angle of the blade and the current pitch angle are determined through calculating the transmission angle of the electric servo system and combining the transmission ratio.
However, the above calculation method has the following defects: because of the servo error and transmission error of the electric servo system, the calculation error of the movement of the transmission ratio is caused, the adjustment mode of the pitch angle is caused, and the pitch angle can be adjusted to a proper angle only through multiple feedback adjustment, so that the adjustment speed is seriously influenced, and the safety coefficient of the generator is influenced under the condition of over wind speed.
Disclosure of Invention
The invention aims to provide a pitch control system and a pitch control method for a permanent magnet wind driven generator of a laser wind-finding radar, which are used for solving the technical problem that in the prior art, due to the servo error and transmission error of an electric servo system, the calculation error of the movement of the transmission ratio exists, and the adjustment mode of the pitch angle exists.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
a permanent magnet wind driven generator pitch control method of a laser wind-finding radar comprises the following steps:
step 100, acquiring the current wind speed by using a wind speed sensor, acquiring the current power generation parameters of a wind driven generator at one time by using a wind power generation control system, and establishing a first matching relation for carrying out numerical quantification on the wind speed, the current pitch angle and the power generation parameters by using a big data processing mode;
200, determining the adjustment direction of a variable pitch driving module on each blade according to a variable angle constant frequency mode, taking the wind speed detected by one blade as the undetermined wind speed of the next blade according to the rotation direction of a wind driven generator, regulating and controlling the variable pitch driving module by a wind power generation control system to drive each blade to do variable pitch circular motion, acquiring the power generation parameters of the wind driven generator for a second time in real time, calculating the change value of the pitch angle based on the power generation parameters measured for a plurality of times and the first matching relation, and establishing a second matching relation between the difference value of the power generation parameters and the change value of the pitch angle;
step 300, determining a third matching relation between the driving duration of the variable pitch driving module and the pitch angle change value according to time acquisition points for acquiring two power generation parameters when the pitch angle change value is calculated each time;
step 400, determining a pitch angle change value of the variable pitch of the wind driven generator based on the rated power of the generator and the second matching relation, and calculating a driving time length by combining the third matching relation and the pitch angle change value, wherein the variable pitch driving module adjusts the rotation direction of each blade according to the driving time length.
As a preferred embodiment of the present invention, in step 100, the power generation parameters include a power generation voltage and a power generation power, where the power generation voltage and the power generation power are proportional to the wind speed, the greater the wind speed is, the greater the rotation rate of the blade is, the greater the power generation voltage and the power generation power is, the smaller the wind speed is, the smaller the rotation rate of the blade is, and the power generation voltage and the power generation power are smaller;
the generated voltage and the generated power are inversely proportional to the pitch angle, the larger the pitch angle is, the larger the damping received by the blade is, the smaller the generated voltage and the generated power are, the smaller the pitch angle is, the smaller the damping received by the blade is, and the larger the generated voltage and the generated power are.
As a preferred solution of the present invention, in step 200, if the current wind speed is greater than the rated wind speed, the pitch angle of the blades is adjusted by the pitch driving module to gradually increase within the stable torque range so that the power generation parameter is reduced;
and if the current wind speed is smaller than the rated wind speed, the pitch angle of the blades is adjusted to be gradually reduced in a stable torque range by the variable speed constant frequency mode by the variable pitch driving module, so that the power generation parameter is increased.
As a preferred embodiment of the present invention, in step 200, the implementation step of establishing the second matching relationship is:
before the pitch angle of the blades is adjusted by the pitch driving module, the wind power generation control system utilizes the acquisition unit to measure the current power generation parameter A once and determine the corresponding pitch angle to be measured once;
the wind speed collected by the blade is the undetermined wind speed, the wind power generation control system controls the variable pitch driving module to adjust the pitch angle of the blade in the range of the current detected wind speed and undetermined wind speed, and the current power generation parameter B is measured for many times by utilizing the collecting unit;
substituting each measured power generation parameter B into a first matching relation, calculating the pitch angle corresponding to each power generation parameter B, establishing a difference value between each measured power generation parameter B and the power generation parameter A and a functional relation between the current pitch angle and a pitch angle change value corresponding to one measurement, and obtaining a second matching relation between the difference value of the power generation parameter at the current wind speed and the pitch angle change value.
As a preferred embodiment of the present invention, in step 200, the current measured wind speed is acquired and measured by the wind speed sensor, and the implementation manner of measuring the power generation parameter a at a time by using the acquisition unit in the measured wind speed is as follows:
determining a stable wind speed for collecting the power generation parameter A, and measuring the power generation parameter A for a plurality of times in the stable wind speed;
and eliminating the front-stage power generation parameter A and the rear-stage power generation parameter A in the stable wind speed time, reserving the power generation parameter A in the time period, and carrying out average statistics on the power generation parameter A in the time period to obtain the current power generation parameter A measured at one time.
As a preferred solution of the present invention, in step 200, after adjusting the pitch angle of the blade, the implementation manner of the wind power generation control system for determining the current power generation parameter B multiple times by using the acquisition unit in the adjustment process of the wind speed is:
when the current power generation parameter B is measured each time, when the wind speed sensor detects the same stable wind speed as one measurement, the wind power generation control system utilizes the acquisition unit to acquire the power generation parameter B at high frequency in the stable wind speed, and after error data are removed, the rest power generation parameters B are subjected to average processing to obtain the power generation parameter B measured each time.
As a preferable mode of the invention, the final pitch angle change value is calculated by inputting the rated power of the generator in the second matching relation, and the pitch angle of the blade outputting the rated power of the generator is obtained.
As a preferable scheme of the invention, when the wind power generation control system utilizes the acquisition unit to measure the current power generation parameter A and the power generation parameter B at one time to establish a second matching relation, a timing unit is utilized to determine the acquisition time point measured each time, and the duration between the time point for acquiring the power generation parameter B and the time point for acquiring the power generation parameter A is the driving duration of the variable pitch driving module;
and establishing a third matching relation between the pitch angle change value and the driving duration based on the driving duration of the pitch driving module and the pitch angle change value between the current pitch angle and the pitch angle corresponding to one-time measurement.
In order to solve the technical problems, the invention further provides the following technical scheme: a control system of a pitch control method of a permanent magnet wind driven generator of a laser wind-finding radar comprises the following components:
the wind speed sensor is used for measuring the wind speed corresponding to the height of the blade;
the torque sensor is arranged at the root of the blade and used for measuring the rotation torque angle of each blade;
the pitch-variable driving module is arranged on the hub, and drives independent blades to perform asynchronous rotation and pitch conversion sequentially through a motor arranged on each blade so as to respectively and independently adjust the pitch angle of each blade;
the acquisition unit is used for measuring the power generation parameters of the generator, including power generation voltage and power generation power;
the power generation pitch control system is connected with the wind speed sensor, the acquisition unit, the pitch driving module and the torque sensor, compares the wind speed detected by the wind speed sensor with the rated wind speed corresponding to the rated power of the generator, regulates and controls the pitch driving module to drive each blade to rotate clockwise or anticlockwise based on a comparison result, increases or decreases the pitch angle of each blade within a stable torque range, and correspondingly reduces the power generation or increases the power generation;
wherein the power generation pitch control system comprises:
the first matching relation creating unit is used for determining a first matching relation between the power generation parameters and the pitch angles in different wind speed ranges according to the historical data;
the second matching relation creation unit is used for creating a second matching relation between the difference value of the power generation parameters and the pitch angle change value according to the power generation parameters after the pitch angle is adjusted each time and the pitch angle change value which are in the same wind speed range;
and the third matching relation creation unit is used for determining the pitch angle change value corresponding to different driving time lengths of the pitch driving module according to the acquisition time point of each acquisition of the power generation parameter, and creating a third matching relation between the pitch angle change value and the driving time lengths.
As a preferable scheme of the invention, the power generation pitch control system determines a pitch angle change value according to a difference value between a power generation parameter and a rated parameter at the current wind speed and by combining a second matching relation;
substituting the pitch angle change value into a third matching relation to obtain a driving time length, and regulating and controlling the variable pitch driving module to drive the blades to rotate according to the driving time length by the power generation variable pitch control system so as to adjust the pitch angle until the power generation power of the generator is the same as the rated power generation power.
Compared with the prior art, the invention has the following beneficial effects:
the invention completely avoids the transmission ratio between the variable pitch driving module and the blade angle, avoids the condition that the pitch angle is not adjusted in place due to the transmission system error of the electric servo system, and only the variable pitch driving module drives the blades to rotate through the transmission system according to the calculated driving time, the pitch angle can reach the standard degree, the power generation of the generator is the same as the rated power at the moment, so that the blades do not need to be adjusted back and forth for a plurality of times to reach the standard angle, the precision of variable pitch control is improved, the speed of variable pitch control is accelerated, the protection effect on the generator is realized, and in addition, each blade of the laser radar can obtain the wind speed and wind direction change data of 50-400m distance in front of the wind turbine generator set by measurement and calculation in advance of a plurality of seconds or tens of seconds, thereby having advanced sensing capability and striving for advanced time for variable pitch control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
FIG. 1 is a schematic flow chart of a pitch control method for a wind turbine according to an embodiment of the present invention;
fig. 2 is a block diagram of a wind turbine pitch control system according to an embodiment of the present invention.
Reference numerals in the drawings are respectively as follows:
1-a wind speed sensor; 2-a pitch drive module; 3-an acquisition unit; 4-a power generation pitch control system; 5-a torque sensor;
41-a first matching relationship creation unit; 42-a second matching relationship creation unit; 43-third matching relationship creation unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in FIG. 1, the invention provides a pitch control method of a permanent magnet wind driven generator of a laser wind-finding radar, which does not utilize the rotation angle of a pitch driving module to calculate the change angle of a pitch angle any more, and avoids the calculation error of the pitch angle caused by the transmission error of the pitch driving module, thereby improving the precision of pitch control, adjusting the blades to a set pitch angle only once, improving the efficiency of pitch control, and avoiding the problem of the error of angle calculation caused by multiple adjustment.
The method specifically comprises the following steps:
step 100, acquiring the current wind speed by using a wind speed sensor, acquiring the current power generation parameters of the wind driven generator at one time by using a wind power generation control system, and establishing a first matching relation for carrying out numerical quantification on the wind speed, the current pitch angle and the power generation parameters by using a big data processing mode.
In step 100, the power generation parameters include a power generation voltage and a power generation power, wherein the power generation voltage and the power generation power are proportional to the wind speed, and the greater the wind speed is, the greater the rotation rate of the blade is, the greater the power generation voltage and the power generation power is, the smaller the wind speed is, the smaller the rotation rate of the blade is, and the power generation voltage and the power generation power are smaller.
The generated voltage and the generated power are inversely proportional to the pitch angle, the larger the pitch angle is, the larger the damping received by the blade is, the smaller the generated voltage and the generated power are, the smaller the pitch angle is, the smaller the damping received by the blade is, and the larger the generated voltage and the generated power are.
Step 200, determining the adjustment direction of the variable pitch driving module to each blade according to the variable angle constant frequency mode, taking the wind speed detected by one blade as the undetermined wind speed of the next blade according to the rotation direction of the wind driven generator, regulating and controlling the variable pitch driving module by the wind power generation control system to drive each blade to do variable pitch circular motion, acquiring the power generation parameters of the wind driven generator for a second time in real time, calculating the change value of the pitch angle based on the power generation parameters measured for a plurality of times and the first matching relation, and establishing a second matching relation between the difference value of the power generation parameters and the change value of the pitch angle.
It should be noted that, when the blade is stationary, the pitch angle is 90 °, and the airflow does not generate torque on the blade, and the whole blade is actually a damping plate. When the wind speed reaches the starting wind speed, the blades rotate towards the direction of 0 degrees, and the wind wheel starts to start when knowing that a certain attack angle is generated on the blades by the airflow. The pitch set point of the pitch system is controlled by the generator rotational speed signal before the generator is incorporated into the grid. The rotation speed controller gives a speed reference value according to a certain speed rising slope. In order to ensure stable grid connection, the impact on the power grid is as small as possible, and the variable pitch system can keep the rotating speed of the generator to be near the synchronous rotating speed within a certain time.
When the wind speed is lower than the rated wind speed, the generator works below the rated power, and the pitch system adjusts the blades to the pitch angle of 0 so as to realize maximum power tracking; and when the wind speed reaches the rated wind speed, the wind driven generator enters an excess power state. The pitch system controls the pitch angle of the blades according to the power signal of the generator, reducing the captured aerodynamic energy to protect the blades and the generator.
Thus, in step 200, if the current wind speed is greater than the rated wind speed, the pitch drive module adjusts the pitch angle of the blades to gradually increase within a stable torque range such that the power generation parameter decreases; and if the current wind speed is smaller than the rated wind speed, the pitch angle of the blades is adjusted to be gradually reduced in a stable torque range by the variable speed constant frequency mode by the variable pitch driving module, so that the power generation parameter is increased.
In step 200, the implementation step of establishing the second matching relationship is:
(1) Before the pitch angle of the blades is adjusted by the pitch driving module, the wind power generation control system utilizes the acquisition unit to measure the current power generation parameter A once and determine the pitch angle corresponding to the measurement once;
(2) The wind speed acquired by the blade is the undetermined wind speed, the wind power generation control system controls the pitch angle of the blade to be adjusted by the pitch driving module in the range of the current detected wind speed and the undetermined wind speed, and the current power generation parameter B is measured for a plurality of times by utilizing the acquisition unit;
(3) Substituting each measured power generation parameter B into a first matching relation, calculating the pitch angle corresponding to each power generation parameter B, establishing a difference value between each measured power generation parameter B and the power generation parameter A and a functional relation between the current pitch angle and a pitch angle change value corresponding to one measurement, and obtaining a second matching relation between the difference value of the power generation parameter at the current wind speed and the pitch angle change value. And calculating a final pitch angle change value by inputting the rated power of the generator in the second matching relation, and obtaining the pitch angle of the blades outputting the rated power at the generator.
In the step (1), the current measured wind speed is collected and measured by the wind speed sensor, and the implementation mode of measuring the power generation parameter A at one time by using the collecting unit in the measured wind speed is as follows:
and determining a stable wind speed for collecting the power generation parameter A, and measuring the power generation parameter A for a plurality of times within the stable wind speed.
And eliminating the front-stage power generation parameter A and the rear-stage power generation parameter A in the stable wind speed time, reserving the power generation parameter A in the time period, and carrying out average statistics on the power generation parameter A in the time period to obtain the current power generation parameter A measured at one time.
The method excludes the front-stage power generation parameter A and the rear-stage power generation parameter A in a wind speed range, and the power generation parameter A still keeps the same as the power generation parameters before and after the wind speed change due to the inertia of the blades when the wind speed changes, so that the authenticity and the accuracy of the power generation parameter A in the wind speed range can be improved after error data are excluded.
Similarly, in the step (2), after adjusting the pitch angle of the blade, the wind power generation control system uses the acquisition unit to measure the current power generation parameter B multiple times in the adjustment process of the wind speed unchanged, and the implementation mode is as follows:
when the current power generation parameter B is measured each time, when the wind speed sensor detects the same stable wind speed as one measurement, the wind power generation control system utilizes the acquisition unit to acquire the power generation parameter B at high frequency in the stable wind speed, and after error data are removed, the rest power generation parameters B are subjected to average processing to obtain the power generation parameter B measured each time.
In this way, the calculation process of the power generation parameter A and the power generation parameter B is more accurate, the calculation mode of the corresponding second matching relation is more accurate, and the corresponding relation between the difference value of the power generation parameters and the pitch angle change value is more accurate.
And 300, determining a third matching relation between the driving duration of the variable pitch driving module and the pitch angle change value according to time acquisition points for acquiring two power generation parameters when the pitch angle change value is calculated each time.
When the wind power generation control system utilizes the acquisition unit to measure the current power generation parameter A and the power generation parameter B at one time to establish a second matching relationship, the timing unit is utilized to determine the acquisition time point measured each time, and the duration between the time point for acquiring the power generation parameter B and the time point for acquiring the power generation parameter A is the driving duration of the pitch driving module.
And establishing a third matching relation between the pitch angle change value and the driving duration based on the driving duration of the pitch driving module and the pitch angle change value between the current pitch angle and the pitch angle corresponding to one-time measurement.
Step 400, determining a pitch angle change value of the variable pitch of the wind driven generator based on the rated power of the generator and the second matching relation, and calculating a driving time length by combining the pitch angle change value and the third matching relation, wherein the variable pitch driving module adjusts the rotation direction of each blade according to the driving time length.
As can be seen from the above, the present embodiment uses the pitch driving module to drive the blades to perform circular motion to change the pitch angle, and the present embodiment is characterized in that: according to the pitch-variable power generation control system, the pitch angle of the blades is adjusted according to a certain driving speed and corresponding driving time length through adjusting the pitch-variable driving module, and the pitch angle is not adjusted by controlling the pitch-variable driving module to rotate a certain angle.
Therefore, the laser radar of the embodiment can obtain the wind speed and wind direction change data of 50-400m distance in front of the wind turbine generator set by measurement and calculation in advance of a few seconds or tens of seconds, has advanced sensing capability, and strives for advanced time for pitch control.
In addition, this embodiment also provides a control system of a pitch control method of a permanent magnet wind driven generator of a laser wind-finding radar, as shown in fig. 2, including: the wind speed sensor 1, the pitch drive module 2, the acquisition unit 3, the power generation pitch control system 4 and the torque sensor 5.
The wind speed sensor 1 is used for measuring the wind speed corresponding to the height of the blade;
the torque sensor 5 is arranged at the root of the blade and is used for measuring the rotation torque angle of each blade;
the pitch-variable driving module 2 is arranged on the hub, and drives independent blades to perform asynchronous rotation and pitch-variable through a motor arranged on each blade in sequence so as to respectively and independently adjust the pitch angle of each blade;
the acquisition unit 3 is used for measuring the power generation parameters of the generator, including power generation voltage and power generation power;
the power generation pitch control system 4 is connected with the wind speed sensor 1, the acquisition unit 3, the pitch driving module 2 and the torque sensor 5, the power generation pitch control system 4 compares the wind speed detected by the wind speed sensor 1 with the rated wind speed corresponding to the rated power of the generator, and regulates and controls the pitch driving module 2 to drive each blade to rotate clockwise or anticlockwise based on a comparison result, so that the pitch angle of each blade is increased or decreased within a stable torque range, and the power generation power is correspondingly reduced or increased;
wherein the power generation pitch control system 4 includes:
a first matching relationship creation unit 41 for determining a first matching relationship between the pitch angle and the power generation parameters in different wind speed ranges from the history data;
a second matching relation creation unit 42 that creates a second matching relation between the difference value of the power generation parameter and the pitch angle change value, based on the power generation parameter after each adjustment of the pitch angle in the same wind speed range and the pitch angle change value;
the third matching relationship creating unit 43 is configured to determine a pitch angle change value of the pitch driving module 2 corresponding to different driving durations according to an acquisition time point of each acquisition of the power generation parameter, and create a third matching relationship between the pitch angle change value and the driving duration.
The power generation pitch control system 4 determines a pitch angle change value according to the difference value between the power generation parameter and the rated parameter at the current wind speed and the second matching relation;
substituting the pitch angle change value into a third matching relation to obtain driving duration, and regulating and controlling the variable pitch driving module 2 by the power generation variable pitch control system 4 to drive the blades to rotate according to the driving duration so as to adjust the pitch angle until the power generation power of the generator is the same as rated power generation power.
According to the embodiment, the transmission ratio between the variable pitch driving module and the blade angle is completely avoided, the situation that the pitch angle is not adjusted in place due to the transmission system error of the electric servo system is avoided, the pitch angle can reach the standard degree as long as the variable pitch driving module drives the blades to rotate through the transmission system according to the calculated driving time length, the power generation power of the generator is the same as the rated power, the blades are not required to be adjusted back and forth for many times to reach the standard angle, the precision of variable pitch control is improved, the speed of variable pitch control is accelerated, and the protection effect on the generator is realized.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements may be made to the present application by those skilled in the art, which modifications and equivalents are also considered to be within the scope of the present application.

Claims (7)

1. The pitch control method of the permanent magnet wind driven generator of the laser wind-finding radar is characterized by comprising the following steps of:
step 100, acquiring the current wind speed by using a wind speed sensor, acquiring the current power generation parameters of a wind driven generator at one time by using a wind power generation control system, and establishing a first matching relation for carrying out numerical quantification on the wind speed, the current pitch angle and the power generation parameters by using a big data processing mode;
step 200, determining an adjustment direction of a variable pitch driving module to each blade according to a variable angle constant frequency mode, taking the wind speed detected by one blade as the undetermined wind speed of the next blade according to the rotation direction of the wind driven generator, regulating and controlling the variable pitch driving module by the wind power generation control system to drive each blade to do variable pitch circular motion, acquiring the power generation parameters of the wind driven generator for a second time in real time, calculating the change value of the pitch angle based on the power generation parameters measured for a plurality of times and the first matching relation, and establishing a second matching relation between the difference value of the power generation parameters and the change value of the pitch angle;
in step 200, the implementation step of establishing the second matching relationship is:
before the pitch angle of the blades is adjusted by the pitch driving module, the wind power generation control system utilizes the acquisition unit to measure the current power generation parameter A once and determine the corresponding pitch angle to be measured once;
the wind speed collected by the blade is the undetermined wind speed, the wind power generation control system controls the variable pitch driving module to adjust the pitch angle of the blade in the range of the current detected wind speed and undetermined wind speed, and the current power generation parameter B is measured for many times by utilizing the collecting unit;
substituting each measured power generation parameter B into a first matching relation, calculating the pitch angle corresponding to each power generation parameter B, and establishing a function relation between the difference value between each measured power generation parameter B and the power generation parameter A and the pitch angle change value between the current pitch angle and the pitch angle corresponding to one measurement to obtain a second matching relation between the difference value of the power generation parameter under the current wind speed and the pitch angle change value;
step 300, determining a third matching relation between the driving duration of the variable pitch driving module and the pitch angle change value according to time acquisition points for acquiring two power generation parameters when the pitch angle change value is calculated each time;
step 400, determining a pitch angle change value of the variable pitch of the wind driven generator based on the rated power of the generator and the second matching relation, and calculating a driving time length by combining the third matching relation and the pitch angle change value, wherein the variable pitch driving module adjusts the rotation direction of each blade according to the driving time length.
2. The method according to claim 1, wherein in step 100, the power generation parameters include a power generation voltage and a power generation power, wherein the power generation voltage and the power generation power are proportional to the wind speed, the greater the rotation speed of the blade, the greater the power generation voltage and the power generation power, the smaller the wind speed, the smaller the rotation speed of the blade, and the smaller the power generation voltage and the power generation power;
the generated voltage and the generated power are inversely proportional to the pitch angle, the larger the pitch angle is, the larger the damping received by the blade is, the smaller the generated voltage and the generated power are, the smaller the pitch angle is, the smaller the damping received by the blade is, and the larger the generated voltage and the generated power are.
3. The method according to claim 1, wherein in step 200, if the pending wind speed is greater than the rated wind speed, the pitch angle of the blades is adjusted by the pitch driving module to gradually increase within a stable torque range so that the power generation parameter is reduced;
and if the undetermined wind speed is smaller than the rated wind speed, the pitch angle of the blades is adjusted to be gradually reduced in a stable torque range by the variable speed constant frequency mode by the variable pitch drive module, so that the power generation parameter is increased.
4. The method for controlling pitch of a permanent magnet wind turbine according to claim 1, wherein in step 200, the current measured wind speed is collected and measured by the wind speed sensor, and the method for measuring the power generation parameter a at a time by using the collecting unit in the measured wind speed is as follows:
determining a stable wind speed for collecting the power generation parameter A, and measuring the power generation parameter A for a plurality of times in the stable wind speed;
and eliminating the front-stage power generation parameter A and the rear-stage power generation parameter A in the stable wind speed time, reserving the power generation parameter A in the time period, and carrying out average statistics on the power generation parameter A in the time period to obtain the current power generation parameter A measured at one time.
5. The method for controlling pitch of a permanent magnet wind turbine with a laser wind-finding radar according to claim 4, wherein in step 200, after adjusting the pitch angle of the blades, the wind power generation control system uses the acquisition unit to measure the current power generation parameter B multiple times during the adjustment process of the wind speed unchanged:
when the current power generation parameter B is measured each time, when the wind speed sensor detects the same stable wind speed as one measurement, the wind power generation control system utilizes the acquisition unit to acquire the power generation parameter B at high frequency in the stable wind speed, and after error data are removed, the rest power generation parameters B are subjected to average processing to obtain the power generation parameter B measured each time.
6. The method for controlling the pitch of the permanent magnet wind driven generator by the laser wind-finding radar according to claim 1, wherein the final pitch angle change value is calculated by inputting the rated power of the generator in the second matching relation, and the pitch angle of the blades at the rated power output by the generator is obtained.
7. The method for controlling the pitch of the permanent magnet wind driven generator by the laser wind-finding radar according to claim 1, wherein when the wind power generation control system utilizes the acquisition unit to measure the current power generation parameter A and the power generation parameter B at one time to establish a second matching relationship, a timing unit is utilized to determine an acquisition time point measured each time, and the duration between the time point of acquiring the power generation parameter B and the time point of acquiring the power generation parameter A is the driving duration of the pitch driving module;
and establishing a third matching relation between the pitch angle change value and the driving duration based on the driving duration of the pitch driving module and the pitch angle change value between the current pitch angle and the pitch angle corresponding to one-time measurement.
CN202210256738.9A 2022-03-16 2022-03-16 Permanent magnet wind driven generator variable pitch control system and method of laser wind-finding radar Active CN114623042B (en)

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