CN114718810A - Offshore wind turbine load control system driven by base data - Google Patents

Offshore wind turbine load control system driven by base data Download PDF

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CN114718810A
CN114718810A CN202210401776.9A CN202210401776A CN114718810A CN 114718810 A CN114718810 A CN 114718810A CN 202210401776 A CN202210401776 A CN 202210401776A CN 114718810 A CN114718810 A CN 114718810A
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flap
pitch
angle
signal
blade
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CN114718810B (en
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张明明
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Shenzhen Graduate School Harbin Institute of Technology
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Shenzhen Graduate School Harbin Institute of Technology
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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 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0232—Adjusting aerodynamic properties of the blades with flaps or slats
    • 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
    • F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor 
    • F03D1/06—Rotors
    • F03D1/065—Rotors characterised by their construction elements
    • F03D1/0675—Rotors characterised by their construction elements of the blades
    • 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
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
    • F03D13/25—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors specially adapted for offshore installation
    • 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
    • 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 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • 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 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0296—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
    • 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 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
    • 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
    • F05B2270/304—Spool rotational speed
    • 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
    • Y02E10/727—Offshore wind turbines

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Wind Motors (AREA)

Abstract

The invention provides a data-drive-based offshore wind turbine load control system, which comprises a trailing edge flap, a signal acquisition module, a signal conditioning module, an upper computer and an electric servo module. The beneficial effects of the invention are: the invention utilizes the trailing edge flap to adjust the bending moment of the blade root, the pitch of the foundation and the yaw of the foundation, and the response speed is obviously higher than that of the traditional pitch control. The invention constructs the time-varying linearized data model by using the online input/output data information of the floating offshore wind power system, and takes the coupling relation of blade load, basic vibration and wind wheel rotation speed into consideration in the design of the corresponding controller, so that the precision of the model is higher than that of the traditional simplified mechanism model, and the control error caused by the dynamic characteristic of the model which is not taken into consideration in the simplified mechanism model can be made up. The control system and the master control of the original machine are subjected to frequency decoupling through a filtering scheme, the effects of simultaneously reducing the fatigue load and the basic vibration of the blade can be achieved on the premise of not sacrificing power fluctuation, the normal operation of the master control system is not influenced, and the control system is easy to realize in new and old machine sets.

Description

Offshore wind turbine load control system driven by base data
Technical Field
The invention relates to the technical field of offshore wind power, in particular to an offshore wind power generator load control system based on data driving.
Background
In recent years, the deep sea floating type offshore wind power has been rapidly developed and becomes one of the supporting forces in the global energy transformation development strategy. Correspondingly, the floating offshore wind turbine is a key technology for developing deep and distant offshore wind turbine markets, and the floating foundation introduces extra freedom degree for the offshore wind turbine, so that the coupling relation of blade load-basic vibration, wind wheel rotating speed and basic vibration under the combined action of wind waves is serious, and great challenges are brought to safe and reliable operation of the offshore wind turbine.
For floating foundation vibration, the prior art mainly comprises two schemes of mass tuning dampers and variable pitch control. The former effectively inhibits the floating foundation vibration to a certain extent, but has very limited response capability to large disturbance external load, and the latter mainly modifies the structure and parameters of a main control variable pitch system so as to adjust the foundation vibration through the thrust of the wind wheel, mainly adopts the measures of reducing the gain of a variable pitch controller, feeding back the acceleration of the tower top, feeding back the pitch angle speed, actively stalling, associating the basic pitch angle speed with the set value of the main control rotating speed and the like, but does not consider the thrust coupling relation between the rotating speed of the wind wheel and the foundation vibration. In addition, other existing technologies also include a multi-input multi-output controller considering the coupling relationship between power and fundamental vibration thrust, such as model prediction control, linear quadratic optimal control, and linear variable parameter control, but these technologies are designed based on a simplified mechanism model, the model fidelity is to be examined, and the coupling relationship between blade load and fundamental vibration is not considered at the expense of power fluctuation.
Regarding blade load control, the latest technology is to use a trailing edge flap to realize blade root bending moment control, but a PID (proportion integration differentiation) or a controller based on a simplified mechanism model is mainly used, and the coupling relation between the blade root bending moment and the basic vibration is not considered.
In summary, for the floating wind turbine, coupling relationships such as blades, transmission chains, foundations and rotating speeds are not comprehensively considered in the prior art, so that the fatigue load and power output control effect is poor.
With respect to floating foundation vibration control, the existing mass tuned damper has very limited response capability to large disturbance external loads; the existing variable pitch control aiming at floating foundation vibration does not consider the thrust coupling relation between the rotating speed of a wind wheel and the foundation vibration; the existing multi-input multi-output variable pitch controller considers the thrust coupling relation between the rotating speed of a wind wheel and basic vibration, but is based on the simplified mechanism hypothesis based on rigid body dynamics, and does not consider the flexible characteristics of blades, a tower and the like, so that the fidelity of the controller is to be tested, and particularly for an offshore wind power system containing negative damping factors, the characteristics of a relevant dynamic model can cause larger control errors; in the prior art, the power fluctuation is sacrificed, and the coupling relation between the blade load and the basic vibration is not considered; in addition, the response speed of the prior art is slow.
Disclosure of Invention
In order to overcome the defects of the floating offshore wind turbine control technology in the prior art, the invention provides an offshore wind turbine load control system based on data driving, which comprises a trailing edge flap, a signal acquisition module, a signal conditioning module, an upper computer and an electric servo module, wherein the signal acquisition module is connected with the signal conditioning module; the electric servo module comprises a PLC, a flap driving circuit, a variable pitch driving circuit, a flap actuator and a variable pitch actuator, wherein the input end of the flap driving circuit is connected with the PLC, the output end of the flap driving circuit is connected with the flap actuator, the input end of the variable pitch driving circuit is connected with the PLC, and the output end of the variable pitch driving circuit is connected with the variable pitch actuator;
the signal acquisition module acquires signals, wherein the acquired signals comprise a trailing edge flap deflection angle signal, a wind wheel rotating speed signal, a blade root flap bending moment signal, a floating type basic pitch signal, a pitch signal and a yaw signal;
the signal conditioning module filters the acquired signals;
the upper computer organizes the filtered signals, a time-varying linearization data model is built on line, the problems of power fluctuation, blade load and basic vibration optimization are comprehensively considered, a trailing edge flap angle control law is designed, a flap deflection angle set value calculated by the control law is sent to a PLC, and the PLC sends a pulse instruction to a flap driving circuit to drive the trailing edge flap to deflect; aiming at floating foundation surging vibration, the upper computer performs feedback compensation on the blade pitch angle by using filtered surging displacement and surging speed signals, and sends pitch angle compensation quantity to the PLC, and the PLC sends a pulse instruction to the pitch driving circuit.
As a further improvement of the invention, the signal acquisition module comprises a rotating speed encoder, a strain sensor, a flap angle encoder and a floating type basic attitude sensor, wherein the rotating speed encoder is connected with a low-speed shaft of the gearbox and is used for measuring the rotating speed and the azimuth angle of the wind wheel; the strain sensor is arranged at the root of the blade and used for measuring the flapping bending moment of the blade root; the flap angle encoder is connected with the flap driving shaft and used for monitoring a real-time flap angle; the floating foundation attitude sensor is used for measuring the floating foundation pitch velocity, pitch angle, yaw velocity, yaw angle, pitch velocity and pitch angle.
As a further improvement of the invention, the number of the rotating speed encoders is 1, the number of the strain sensors is 3, the number of the flap angle encoders is 3, and the number of the floating foundation attitude sensors is 1.
As a further improvement of the invention, the signal conditioning module performs filtering processing on the signal from the signal acquisition module according to a specified frequency, wherein low-pass filtering is performed on a trailing edge flap deflection angle signal, a wind wheel rotating speed and an azimuth angle signal; performing band-pass filtering on the waving bending moment signal of the root of the blade by taking the main rotating frequency of the wind wheel as the central frequency; carrying out low-pass filtering on the pitch speed signal, the yaw speed signal and the pitch speed signal; and performing band-pass filtering on the pitch displacement signal, the yaw displacement signal and the pitch displacement signal according to the undamped natural frequency of the pitch displacement signal, the yaw displacement signal and the pitch displacement signal.
The invention has the beneficial effects that: the invention utilizes the trailing edge flap to adjust the bending moment of the blade root, the pitching of the foundation and the yawing of the foundation, and the response speed is obviously higher than that of the traditional variable pitch control. The invention utilizes the online input/output data information of the floating offshore wind power system to construct a time-varying linearized data model, and takes the coupling relation among blade load, basic vibration and wind wheel rotating speed into consideration in the design of a corresponding controller, so that the precision of the model is higher than that of the traditional simplified mechanism model, and the control error caused by the dynamic characteristic of the model which is not taken into consideration in the simplified mechanism model can be compensated. Furthermore, the control system and the master control of the original machine are subjected to frequency decoupling through a filtering scheme, the effects of simultaneously reducing the fatigue load of the blades and the basic vibration can be achieved on the premise of not sacrificing power fluctuation, the normal operation of the master control system is not influenced, and the control system is easy to realize in new and old machine sets.
Drawings
FIG. 1 is a system block diagram of the present invention.
Detailed Description
As shown in FIG. 1, the invention discloses a data-driven offshore wind turbine load control system, which comprises a trailing edge flap, a signal acquisition module, a signal conditioning module, an upper computer and an electric servo module, wherein the trailing edge flap is connected with the signal acquisition module; the electric servo module comprises a PLC, a flap driving circuit, a variable pitch driving circuit, a flap actuator and a variable pitch actuator, wherein the input end of the flap driving circuit is connected with the PLC, the output end of the flap driving circuit is connected with the flap actuator, the input end of the variable pitch driving circuit is connected with the PLC, and the output end of the variable pitch driving circuit is connected with the variable pitch actuator.
The signal acquisition module acquires signals, wherein the acquired signals comprise a tail edge flap angle signal, a wind wheel rotating speed signal, a blade root waving bending moment signal, a floating type basic pitching signal, a pitching signal and a yawing signal.
The signal conditioning module filters the acquired signal.
The upper computer organizes the filtered signals, a time-varying linearization data model is built on line, the problems of power fluctuation, blade load and basic vibration optimization are comprehensively considered, a trailing edge flap angle control law is designed, a flap deflection angle set value calculated by the control law is sent to a PLC, and the PLC sends a pulse instruction to a flap driving circuit to drive the trailing edge flap to deflect; aiming at floating foundation surging vibration, the upper computer performs feedback compensation on the blade pitch angle by using filtered surging displacement and surging speed signals, and sends pitch angle compensation quantity to the PLC, and the PLC sends a pulse instruction to the pitch driving circuit.
The invention utilizes sensor data to directly calculate the control quantity without depending on a mechanism model of the offshore wind turbine, does not change the original main control system of the offshore wind turbine, is easy to realize in engineering, and simultaneously reduces the fatigue load of the blade and the basic vibration without sacrificing power fluctuation.
The signal acquisition module comprises 1 rotating speed encoder, 3 strain sensors, 3 flap angle encoders and 1 set of floating type basic attitude sensor, and the rotating speed encoder is connected with the low-speed shaft of the gear box and is used for measuring the rotating speed and the azimuth angle of the wind wheel; the 3 strain sensors are respectively arranged at the root parts of the blades and used for measuring the flapping bending moment of the blade root; the 3 flap angle encoders are connected with the flap driving shaft and used for monitoring the real-time flap angle; and 1 set of floating foundation attitude sensor is used for measuring the floating foundation pitch velocity, pitch angle, yaw velocity, yaw angle, pitch velocity and pitch angle.
The signal conditioning module is used for filtering the signal from the signal acquisition module according to a specified frequency, wherein the trailing edge flap deflection angle signal, the wind wheel rotating speed and the azimuth angle signal are subjected to low-pass filtering so as to eliminate high-frequency interference in measurement; band-pass filtering is carried out on the flapping bending moment signal of the root of the blade by taking the main rotating frequency of the wind wheel as the central frequency, so that the controller is ensured to mainly control the frequency component which contributes most to the fatigue load; carrying out low-pass filtering on the pitch velocity signal, the yaw velocity signal and the pitch velocity signal so as to eliminate wave frequency components; and performing band-pass filtering on the pitch displacement signal, the yaw displacement signal and the pitch displacement signal according to the undamped natural frequency of the pitch displacement signal, so as to ensure that the controller mainly eliminates the load component near the natural frequency.
The upper computer comprises a data organization module, the data organization module is used for organizing the filtered signals, and in the data organization module, blade root bending moment and flap deflection angle under a blade coordinate system are converted into a hub coordinate system by multi-blade coordinate transformation;
Figure BDA0003600499590000041
Figure BDA0003600499590000042
My1,My2,My3representing the blade root bending moment in the blade coordinate system, My0,Mys,MycRepresenting the blade root bending moment, # in a fixed hub coordinate system1,ψ2,ψ3Representing the azimuth angle, theta, of each blade1,θ2,θ3Representing the flap deflection angle, theta, in the blade coordinate system0,θs,θcRepresenting a flap deflection angle in a fixed hub coordinate system;
let the input u ═ θ0,θs,θc]T(ii) a Output of
Figure BDA0003600499590000043
To front LuIndividual time input and front LyOrganizing the output data at each moment to obtain a column vector
Figure BDA0003600499590000044
Lu>0,Ly>0 is a positive integer; gamma raypitchf,γyawf,
Figure BDA0003600499590000051
ωrfThe filtered base longitudinal angle, base heading angle, base longitudinal speed, base heading speed and wind wheel rotating speed are respectively.
The upper computer further comprises a data model online identification module, the data model online identification module is used for constructing a time-varying linearized data model online, and the data model online identification module is based on the following data structure model assumptions:
Figure BDA0003600499590000052
identifying an objective function as
Figure BDA0003600499590000053
Wherein,
Figure BDA0003600499590000054
Figure BDA0003600499590000055
and is
Figure BDA0003600499590000056
Then the online recognition is:
Figure BDA0003600499590000057
wherein A ═ μ Pi -1,
Figure BDA0003600499590000058
In the data model online identification module, the identification process further comprises a constraint and reset algorithm: if it is
Figure BDA0003600499590000059
Or
Figure BDA00036004995900000510
Then
Figure BDA00036004995900000511
If it is
Figure BDA00036004995900000512
Or
Figure BDA00036004995900000513
Then
Figure BDA00036004995900000514
Wherein,
Figure BDA00036004995900000515
representation matrix
Figure BDA00036004995900000516
Element of initial value i row 1 column, εa＜εb＜0。
The upper computer further comprises a data drive control law module, wherein the data drive control law module is used for designing a control law of the tail edge flap angle and sending a set value of the flap angle calculated by the control law to the PLC;
the solution of the data-driven control law module is based on the following objective function:
Figure BDA00036004995900000517
wherein e isc(k+1)＝yd(k+1)-y(k+1)
The first term in the objective function represents the control precision, the second term represents the speed of a flap actuator, the third term represents the angle of the flap actuator, and the second term and the third term are added particularly aiming at the problem of saturated velocity and amplitude of flap deflection and can optimize flap deflection energy consumption;
solving to obtain the optimal input quantity as follows:
Figure BDA00036004995900000518
transforming the optimal input quantity to a blade coordinate system:
Figure BDA0003600499590000061
the upper computer further comprises a variable pitch feedback compensation algorithm, the variable pitch feedback compensation algorithm utilizes the filtered surge displacement and surge speed signal to perform feedback compensation on the blade pitch angle, and the variable pitch feedback compensation algorithm is as follows:
Figure BDA0003600499590000062
the upper computer calculates the set value theta of the deflection angle of the flapsetAnd pitch angle compensation amount delta betasetAnd the PLC calculates the pulse strings according to the pulse strings and sends the corresponding flap driving circuit and the corresponding pitch driving circuit respectively, and then the flap actuator and the pitch actuator are driven to complete the instruction operation from the upper computer respectively.
Pi,Pc,Qc,RcAn orthodefinite quadratic matrix.
Experiments prove that the method has a very good technical effect, the joint relation between the wind speed and the wave parameters is determined by taking meteorological data near a Shetland archipelago of the northeast of Scotland as reference, the water depth is 200m, the simulation working condition is referred to IEC61400-3-1(2019), a standard turbulent wind model at the position of 22m/s, the turbulence intensity level B, the shear index is 0.14, the effective wave height of the wave is 4.7m, the spectrum peak period is 13.4s, the wave direction is 30 degrees, and the simulation time is 3630 s. The trailing edge flap accounts for 10% of chord ratio, can deflect the scope +/-15 degrees, and is located 70 ~ 90% of span position.
The invention has the following beneficial effects:
1. the trailing edge flap is utilized to reduce the basic vibration and the blade load on the premise of not sacrificing power fluctuation; (the first international example is to realize effective control of the basic vibration of the floating type unit in a trailing edge flap mode).
2. All signal filtering schemes are organically combined with a trailing edge flap control scheme, the frequency decoupling is realized by the provided innovation technology and the original main control of the floating type offshore wind turbine generator, and the prior art is mostly coupled with a whole main control variable pitch system.
3. The method is characterized in that a target function is set in a data model online identification mode, a quadratic matrix is introduced to carry out weight planning on each identification error, a parameter identification problem is solved by using a vector and norm derivation method and combining a Sterser equation general solution, and a related constraint resetting algorithm is not reported in the prior art.
4. And (3) performing weight planning on each identification error vector, input vector and input change rate vector by introducing a quadratic matrix, setting an objective function mainly based on a data drive control law mode, comprehensively considering the problems of flap deflection speed and flap deflection position saturation, and solving the control law by a vector derivation method.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (10)

1. The utility model provides an offshore wind turbine load control system based on data drive which characterized in that: the device comprises a trailing edge flap, a signal acquisition module, a signal conditioning module, an upper computer and an electric servo module; the electric servo module comprises a PLC, a flap driving circuit, a variable pitch driving circuit, a flap actuator and a variable pitch actuator, wherein the input end of the flap driving circuit is connected with the PLC, the output end of the flap driving circuit is connected with the flap actuator, the input end of the variable pitch driving circuit is connected with the PLC, and the output end of the variable pitch driving circuit is connected with the variable pitch actuator;
the signal acquisition module acquires signals, wherein the acquired signals comprise a trailing edge flap deflection angle signal, a wind wheel rotating speed signal, a blade root flap bending moment signal, a floating type basic pitch signal, a pitch signal and a yaw signal;
the signal conditioning module filters the acquired signals;
the upper computer organizes the filtered signals, a time-varying linearization data model is built on line, the problems of power fluctuation, blade load and basic vibration optimization are comprehensively considered, a trailing edge flap angle control law is designed, a flap deflection angle set value calculated by the control law is sent to a PLC, and the PLC sends a pulse instruction to a flap driving circuit to drive the trailing edge flap to deflect; aiming at floating foundation surging vibration, the upper computer performs feedback compensation on the blade pitch angle by using filtered surging displacement and surging speed signals, and sends pitch angle compensation quantity to the PLC, and the PLC sends a pulse instruction to the pitch driving circuit.
2. The offshore wind turbine load control system of claim 1, wherein: the signal acquisition module comprises a rotating speed encoder, a strain sensor, a flap angle encoder and a floating type basic attitude sensor, wherein the rotating speed encoder is connected with a low-speed shaft of the gearbox and is used for measuring the rotating speed and the azimuth angle of the wind wheel; the strain sensor is arranged at the root of the blade and used for measuring the flapping bending moment of the blade root; the flap angle encoder is connected with the flap driving shaft and used for monitoring a real-time flap angle; the floating foundation attitude sensor is used for measuring the floating foundation pitch velocity, pitch angle, yaw velocity, yaw angle, pitch velocity and pitch angle.
3. Offshore wind park load control system according to claim 2, wherein: the number of the rotating speed encoders is 1, the number of the strain sensors is 3, the number of the flap angle encoders is 3, and the number of the floating type basic attitude sensors is 1.
4. Offshore wind park load control system according to claim 2, wherein: the signal conditioning module is used for filtering the signals from the signal acquisition module according to specified frequency, wherein low-pass filtering is carried out on the trailing edge flap deflection angle signals, the wind wheel rotating speed and the azimuth angle signals; performing band-pass filtering on the waving bending moment signal of the root of the blade by taking the main rotating frequency of the wind wheel as the central frequency; carrying out low-pass filtering on the pitch speed signal, the yaw speed signal and the pitch speed signal; and performing band-pass filtering on the pitch displacement signal, the yaw displacement signal and the pitch displacement signal according to the undamped natural frequency of the pitch displacement signal, the yaw displacement signal and the pitch displacement signal.
5. The offshore wind turbine load control system of claim 1, wherein: the upper computer comprises a data organization module, the data organization module is used for organizing the filtered signals, and in the data organization module, blade root bending moment and flap deflection angle under a blade coordinate system are converted into a hub coordinate system by multi-blade coordinate transformation;
Figure FDA0003600499580000021
Figure FDA0003600499580000022
My1,My2,My3representing the blade root bending moment in the blade coordinate system, My0,Mys,MycRepresenting the blade root bending moment, # in a fixed hub coordinate system1,ψ2,ψ3Representing the azimuth angle, theta, of each blade1,θ2,θ3Representing the flap deflection angle, theta, in the blade coordinate system0,θs,θcRepresenting a flap deflection angle in a fixed hub coordinate system;
let the input u ═ θ0,θs,θc]T(ii) a Output of
Figure FDA0003600499580000023
To front LuIndividual time input and front LyOrganizing the output data at each moment to obtain a column vector
Figure FDA00036004995800000211
k is the controller time step, Lu>0,Ly>0 is a positive integer;
Figure FDA0003600499580000024
the filtered base longitudinal angle, base heading angle, base longitudinal speed, base heading speed and wind wheel rotating speed are respectively.
6. Offshore wind park load control system according to claim 5, wherein: the upper computer further comprises a data model online identification module, the data model online identification module is used for constructing a time-varying linearized data model online, and the data model online identification module is based on the following data structure model assumptions:
Figure FDA0003600499580000025
identifying an objective function as
Figure FDA0003600499580000026
Wherein,
Figure FDA0003600499580000027
Figure FDA0003600499580000028
and is
Figure FDA0003600499580000029
Then the online recognition is:
Figure FDA00036004995800000210
wherein,
Figure FDA0003600499580000031
7. offshore wind park load control system according to claim 6, wherein: in the data model online identification module, the identification process further comprises a constraint and reset algorithm:
if it is
Figure FDA0003600499580000032
Or
Figure FDA0003600499580000033
Then
Figure FDA0003600499580000034
If it is
Figure FDA0003600499580000035
Or
Figure FDA0003600499580000036
Then
Figure FDA0003600499580000037
Wherein,
Figure FDA0003600499580000038
representation matrix
Figure FDA0003600499580000039
Element of initial value i row 1 column, εa＜εb＜0。
8. The offshore wind turbine load control system of claim 7, wherein: the upper computer further comprises a data drive control law module, wherein the data drive control law module is used for designing a control law of the tail edge flap angle and sending a set value of the flap angle calculated by the control law to the PLC;
the solution of the data-driven control law module is based on the following objective function:
Figure FDA00036004995800000310
wherein e isc(k+1)＝yd(k+1)-y(k+1)
The first term in the objective function represents the control precision, the second term represents the speed of a flap actuator, the third term represents the angle of the flap actuator, and the second term and the third term are added particularly aiming at the problem that the velocity and the amplitude of flap deflection are saturated and can optimize the flap deflection energy consumption;
solving to obtain the optimal input quantity as follows:
Figure FDA00036004995800000311
transforming the optimal input quantity to a blade coordinate system:
Figure FDA00036004995800000312
9. the offshore wind turbine load control system of claim 8, wherein: the upper computer further comprises a variable pitch feedback compensation algorithm, the variable pitch feedback compensation algorithm utilizes the filtered surge displacement and surge speed signal to perform feedback compensation on the blade pitch angle, and the variable pitch feedback compensation algorithm is as follows:
Figure FDA00036004995800000313
Kpand KdRespectively, representing the proportional gain and the integral gain corresponding to the proportional-integral controller.
10. The offshore wind turbine load control system of claim 9, wherein: the upper computer calculates the set value theta of the deflection angle of the flapsetAnd pitch angle compensation amount delta betasetAnd the PLC calculates the pulse strings according to the pulse strings and sends the corresponding flap driving circuit and the corresponding pitch driving circuit respectively, and then the flap actuator and the pitch actuator are driven to complete the instruction operation from the upper computer respectively.
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