CN114738181A - A method and system for tracking and controlling the maximum power point of a large wind turbine - Google Patents
A method and system for tracking and controlling the maximum power point of a large wind turbine Download PDFInfo
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Abstract
本发明涉及风力发电控制领域,特别涉及一种大型风力发电机最大功率点跟踪控制方法及系统,方法具体包括如下步骤:获取风速大小以及风轮的实时转速;在线计算最优转矩与实时转矩之差;设置积分滑模控制器;通过积分滑模控制器输出电磁转矩,对风机进行跟踪控制。本发明利用了积分滑模控制方法的快速性以及最优转矩法值变化平缓的特点,兼顾最大功率点跟踪控制的两个目标,在提高风能捕获效率的同时保证了较低的瞬时负载,控制方法简单易行,控制参数易调整。
The invention relates to the field of wind power generation control, in particular to a method and system for tracking and controlling the maximum power point of a large-scale wind turbine. The method specifically includes the steps of: acquiring the wind speed and the real-time rotation speed of the wind rotor; online calculating the optimal torque and real-time rotation speed. torque difference; set the integral sliding mode controller; output the electromagnetic torque through the integral sliding mode controller to track and control the fan. The invention utilizes the rapidity of the integral sliding mode control method and the characteristics of the smooth change of the optimal torque value, takes into account the two objectives of the maximum power point tracking control, and ensures a lower instantaneous load while improving the wind energy capture efficiency. The control method is simple and easy to implement, and the control parameters are easy to adjust.
Description
技术领域technical field
本发明涉及风力发电控制领域,特别涉及一种大型风力发电机最大功率点跟踪控制方法及系统。The invention relates to the field of wind power generation control, in particular to a maximum power point tracking control method and system of a large wind power generator.
背景技术Background technique
为了保证能源的可持续发展,可再生能源近年来一直受到世界各国的关注,而在可再生能源当中,风能备受各国青睐,一方面是因为风能相对于其它化石能源来讲对环境的不利影响较小;另一方面作为一种可再生资源,全球风能的总量是极其可观的,如果能得到高效地开发和利用,对于世界各国都十分有利。In order to ensure the sustainable development of energy, renewable energy has been concerned by countries all over the world in recent years, and among the renewable energy, wind energy is favored by countries, on the one hand, because of the adverse impact of wind energy on the environment compared with other fossil energy On the other hand, as a renewable resource, the total amount of global wind energy is extremely considerable. If it can be efficiently developed and utilized, it will be very beneficial to all countries in the world.
在风力发电技术当中如何提高风力发电机的发电效率是一个重要的课题。通常,根据实际风速的大小可以,将风力发电的控制策略分为两类。第一类:最大功率点跟踪(Maximum Power Point Tracking,MPPT)控制策略。此时,风速大小低于额定风速,控制的主要目标是从风能中最大限度地提取能量。该控制策略是通过设计不同的转矩控制器使得转子速度跟随风速变化而迅速变化,风轮获得最优转子转速,从而获得最大的风能捕获效率。第二类:变桨距角控制。此时,风速高于额定风速,主要是通过控制桨距角来获得较为平稳的输出功率。本发明则属于第一类控制策略。How to improve the power generation efficiency of wind turbines is an important issue in wind power generation technology. Generally, the control strategies of wind power generation can be divided into two categories according to the actual wind speed. The first category: maximum power point tracking (Maximum Power Point Tracking, MPPT) control strategy. At this time, the wind speed is lower than the rated wind speed, and the main goal of the control is to extract the maximum energy from the wind energy. The control strategy is to design different torque controllers so that the rotor speed changes rapidly with the wind speed, and the wind rotor obtains the optimal rotor speed, thereby obtaining the maximum wind energy capture efficiency. The second category: pitch angle control. At this time, the wind speed is higher than the rated wind speed, mainly by controlling the pitch angle to obtain a relatively stable output power. The present invention belongs to the first type of control strategy.
从控制策略来看,目前常用的方法有最佳叶尖速比法(TSR),最优转矩法(OTC),功率反馈信号法(PFS),爬山搜索法(HCS)。最佳叶尖速比发法实际上即是追踪最优转速的一种方法,追踪最优转速需要风力发电机能够及时地响应电磁转矩的变化。最优转矩法因比较容易实现,能够获得较高的风能捕获效率而广泛在工程领域被应用,其参考最优功率值仅仅与风速相关,即与风速的三次方成正比,但这种方法依靠风力机系统自身调节,控制参数不可调整,从而导致在控制效率和跟踪的动态效果两方面尚有不足。功率信号反馈法旨在抑制功率波动,比较著名的一种实现是滑模功率控制(SMPC),但该方法在降低瞬时负载方面有所欠缺。爬山搜索法适用于容量较小的风机且存在步长难以确定或变步长系数难以计算的缺陷,而大型风力发电机自身的转动惯量较大,是无法每时每刻都使风力机处于最优转子转速运行状态,这就必然导致功率损耗,所提取的能量不是最好的。总之,风力发电控制领域迫切需要解决的关键性问题就是如何既能实现良好的动态跟踪效果,获取更高的风能捕获效率,又能保持较低的传动轴瞬时负载,延长风力机部件的使用寿命。From the point of view of control strategy, the most commonly used methods are the optimal tip speed ratio method (TSR), the optimal torque method (OTC), the power feedback signal method (PFS), and the hill climbing search method (HCS). The optimal tip speed ratio method is actually a method of tracking the optimal rotational speed. Tracking the optimal rotational speed requires the wind turbine to respond to changes in electromagnetic torque in a timely manner. The optimal torque method is widely used in the engineering field because it is easy to implement and can obtain high wind energy capture efficiency. The reference optimal power value is only related to the wind speed, that is, proportional to the cube of the wind speed. Relying on the self-adjustment of the wind turbine system, the control parameters cannot be adjusted, resulting in insufficient control efficiency and dynamic effect of tracking. The power signal feedback method is designed to suppress power fluctuations. One of the more well-known implementations is sliding mode power control (SMPC), but this method is lacking in reducing transient loads. The hill-climbing search method is suitable for small-capacity wind turbines and has the defects that the step size is difficult to determine or the variable step-length coefficient is difficult to calculate. However, the large-scale wind turbine itself has a large moment of inertia, which makes it impossible to keep the wind turbine in the maximum position all the time. The optimal rotor speed operation state will inevitably lead to power loss, and the extracted energy is not the best. In a word, the key problem that needs to be solved urgently in the field of wind power generation control is how to achieve a good dynamic tracking effect and obtain a higher wind energy capture efficiency, while maintaining a lower instantaneous load of the drive shaft and prolonging the service life of wind turbine components. .
应该注意,上面对技术背景的介绍只是为了方便对本申请的技术方案进行清楚、完整的说明,并方便本领域技术人员的理解而阐述的。不能仅仅因为这些方案在本申请的背景技术部分进行了阐述而认为上述技术方案为本领域技术人员所公知。It should be noted that the above description of the technical background is only for the convenience of clearly and completely describing the technical solutions of the present application and facilitating the understanding of those skilled in the art. It should not be assumed that the above-mentioned technical solutions are known to those skilled in the art simply because these solutions are described in the background section of this application.
发明内容SUMMARY OF THE INVENTION
本发明的目的是:针对上述背景技术中存在的不足,提供一种基于积分滑模与最优转矩的大型风力发电机最大功率点跟踪控制方法及系统,以期在提高风能捕获效率的同时,保持较低的传输负载。The purpose of the present invention is: in view of the deficiencies in the above-mentioned background technology, to provide a large-scale wind turbine maximum power point tracking control method and system based on integral sliding mode and optimal torque, in order to improve the wind energy capture efficiency while, Keep the transmission load low.
为了达到上述目的,本发明提供了一种大型风力发电机最大功率点跟踪控制方法,包括如下步骤:In order to achieve the above purpose, the present invention provides a method for tracking and controlling the maximum power point of a large-scale wind turbine, comprising the following steps:
S1,获取风速大小以及风轮的实时转速;S1, obtain the wind speed and the real-time rotational speed of the wind rotor;
S2,在线计算最优转矩与实时转矩之差;S2, online calculation of the difference between optimal torque and real-time torque;
S3,设置积分滑模控制器;S3, set the integral sliding mode controller;
S3,通过积分滑模控制器输出电磁转矩,对风机进行跟踪控制。S3, through the integral sliding mode controller to output the electromagnetic torque, the fan is tracked and controlled.
进一步地,S1中风机的传动系统所用的是单质量块模型,具体公式如下:Further, the single-mass model is used in the transmission system of the fan in S1, and the specific formula is as follows:
其中in
其中,ωr代表风轮转子的转速,Tr为代表风轮的转矩,Tg代表发电机侧的转矩,也即本方法所提出的风力机控制系统的控制输入量,Cr,Cg分别代表转子侧阻尼系数和发电机侧转动惯量,Jr,Jg分别代表转子侧和发电机侧的转动惯量,ng是无量纲的数值,代表的是齿轮箱的变速比,Cp代表风能利用系数,它的数值跟桨距角的大小以及叶尖速比的大小都有关系,由于本方法只涉及到转速的调节,桨距角数值一直保持恒定,恒为0,因而,风能利用系数的大小仅与叶尖速比相关;Among them, ω r represents the rotational speed of the rotor of the wind turbine, Tr represents the torque of the wind rotor, and T g represents the torque on the generator side, that is, the control input of the wind turbine control system proposed by this method, C r , C g represents the damping coefficient of the rotor side and the moment of inertia of the generator side, respectively, J r , J g represent the moment of inertia of the rotor side and the generator side, respectively, n g is a dimensionless value, representing the gear ratio of the gearbox, C p represents the wind energy utilization coefficient, and its value is related to the size of the pitch angle and the size of the blade tip speed ratio. Since this method only involves the adjustment of the rotational speed, the value of the pitch angle has been kept constant and is always 0. Therefore, The wind energy utilization coefficient is only related to the tip speed ratio;
叶尖速比λ表达式为The tip speed ratio λ is expressed as
进一步地,S2中设定转矩跟踪误差最优转矩 ωopt为最优转子转速,λopt为最优叶尖速比。Further, the torque tracking error is set in S2 optimal torque ω opt is the optimal rotor speed, λ opt is the optimal tip speed ratio.
进一步地,S3中定义滑模面s=e+Ki∫e dt,其中Ki为积分系数,积分系数的引入能进一步减小对最优转矩值的跟踪误差;Further, the sliding mode surface s=e+K i ∫e dt is defined in S3, wherein K i is the integral coefficient, and the introduction of the integral coefficient can further reduce the tracking error to the optimal torque value;
积分滑模控制器的具体公式如下:The specific formula of the integral sliding mode controller is as follows:
其中,α>0,k>0,Ki>0where α>0, k>0, K i >0
则but
定义Lyapunov函数 Define the Lyapunov function
本发明还提供了一种大型风力发电机最大功率点跟踪控制系统,包括风速检测模块、风轮转速检测模块以及积分滑模控制器,所述风速检测模块用于获取风速大小,所述风轮转速检测模块用于获取风轮的实时转速,所述积分滑模控制器用于计算后输出电磁转矩,对风机进行跟踪控制。The invention also provides a large-scale wind turbine maximum power point tracking control system, including a wind speed detection module, a wind rotor speed detection module and an integral sliding mode controller, the wind speed detection module is used to obtain the wind speed, and the wind rotor The rotational speed detection module is used to obtain the real-time rotational speed of the wind rotor, and the integral sliding mode controller is used to output electromagnetic torque after calculation, and to track and control the wind turbine.
本发明的上述方案有如下的有益效果:The above-mentioned scheme of the present invention has the following beneficial effects:
本发明提供的大型风力发电机最大功率点跟踪控制方法及系统,利用了积分滑模控制方法的快速性以及最优转矩法值变化平缓的特点,兼顾最大功率点跟踪控制的两个目标,在提高风能捕获效率的同时保证了较低的瞬时负载,控制方法简单易行,控制参数易调整;The maximum power point tracking control method and system for large wind turbines provided by the present invention utilizes the rapidity of the integral sliding mode control method and the characteristics of the gentle change of the optimal torque value, and takes into account the two objectives of the maximum power point tracking control. While improving the wind energy capture efficiency, it ensures a lower instantaneous load, the control method is simple and easy to implement, and the control parameters are easy to adjust;
本发明的其它有益效果将在随后的具体实施方式部分予以详细说明。Other beneficial effects of the present invention will be described in detail in the following detailed description section.
附图说明Description of drawings
图1为本发明的步骤流程图;Fig. 1 is the step flow chart of the present invention;
图2为本发明仿真算例使用的湍流风速;Fig. 2 is the turbulent wind speed used in the simulation example of the present invention;
图3为不同控制方法捕获的功率对比图;Figure 3 is a power comparison diagram captured by different control methods;
图4为不同控制方法发电机转矩对比图。FIG. 4 is a comparison diagram of generator torque with different control methods.
具体实施方式Detailed ways
为使本发明要解决的技术问题、技术方案和优点更加清楚,下面将结合附图及具体实施例进行详细描述。显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。此外,下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, the following will be described in detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
为了简单说明,该方法或规则作为一系列操作来描绘或描述,其目的既不是对实验操作进行穷举,也不是对实验操作的次序加以限制。例如,实验操作可以各种次序进行和/或同时进行,并包括其他再次没有描述的实验操作。此外,所述的步骤不都是在此描述的方法和算法所必备的,这些方法和算法可通过状态图或项目表示为一系列不相关的状态。For simplicity of illustration, the method or rule is depicted or described as a series of operations, which is neither intended to be exhaustive nor to limit the order of the experimental operations. For example, experimental operations can be performed in various orders and/or simultaneously, and include other experimental operations not again described. Furthermore, not all of the steps described are necessary for the methods and algorithms described herein, which may be represented by a state diagram or item as a series of unrelated states.
本发明涉及风力发电控制领域,目前风力发电控制领域迫切需要解决的关键性问题在于如何既能实现良好的动态跟踪效果,获取更高的风能捕获效率,又能保持较低的传动轴瞬时负载,延长风力机部件的使用寿命。基于此,本发明的实施例提供了一种大型风力发电机最大功率点跟踪控制方法,如图1所示,总体包括以下四个步骤:The invention relates to the field of wind power generation control. The key problem that needs to be solved urgently in the field of wind power generation control is how to not only achieve a good dynamic tracking effect, obtain a higher wind energy capture efficiency, but also maintain a lower instantaneous load of the drive shaft, Extend the service life of wind turbine components. Based on this, an embodiment of the present invention provides a method for tracking the maximum power point of a large-scale wind turbine, as shown in FIG. 1 , which generally includes the following four steps:
S1,通过风速测量仪获取风速大小,通过转速传感器获取风轮的实时转速;S1, obtain the wind speed through an anemometer, and obtain the real-time speed of the wind rotor through a speed sensor;
S2,在线计算最优转矩与实时转矩之差;S2, online calculation of the difference between optimal torque and real-time torque;
S3,设置积分滑模控制器;S3, set the integral sliding mode controller;
S3,通过积分滑模控制器输出控制量电磁转矩。S3, output the electromagnetic torque of the control quantity through the integral sliding mode controller.
在本实施例中,风机的传动系统所用的是单质量块模型,具体公式如下:In this embodiment, the single-mass model is used in the transmission system of the fan, and the specific formula is as follows:
其中in
在以上公式中,ωr代表风轮转子的转速,Tr为代表风轮的转矩,Tg代表发电机侧的转矩,也即本实施例所提出的风力机控制系统的控制输入量,Cr,Cg分别代表转子侧阻尼系数和发电机侧转动惯量,Jr,Jg分别代表转子侧和发电机侧的转动惯量,ng是无量纲的数值,代表的是齿轮箱的变速比,Cp代表风能利用系数,它的数值跟桨距角的大小以及叶尖速比的大小都有关系,由于本实施例中只涉及到转速的调节,桨距角数值一直保持恒定,恒为0,因而,风能利用系数的大小仅与叶尖速比相关。In the above formula, ω r represents the rotational speed of the rotor of the wind turbine, Tr represents the torque of the wind rotor, and T g represents the torque on the generator side, that is, the control input of the wind turbine control system proposed in this embodiment. , C r , C g represent the damping coefficient on the rotor side and the moment of inertia on the generator side, respectively, J r , J g represent the moment of inertia on the rotor side and the generator side, respectively, n g is a dimensionless value, representing the gearbox The gear ratio, C p represents the wind energy utilization coefficient, and its value is related to the size of the pitch angle and the size of the tip speed ratio. Since only the adjustment of the rotational speed is involved in this embodiment, the value of the pitch angle has been kept constant, is always 0, so the wind energy utilization coefficient is only related to the tip speed ratio.
叶尖速比λ表达式为The tip speed ratio λ is expressed as
在S2中,设定转矩跟踪误差最优转矩 ωopt为最优转子转速, In S2, set the torque tracking error optimal torque ω opt is the optimal rotor speed,
在S3中,定义滑模面s=e+Ki∫e dt,其中Ki为积分系数,积分系数的引入能进一步减小对最优转矩值的跟踪误差。In S3, define the sliding mode surface s=e+K i ∫e dt, where K i is the integral coefficient, and the introduction of the integral coefficient can further reduce the tracking error to the optimal torque value.
积分滑模控制器的具体公式如下:The specific formula of the integral sliding mode controller is as follows:
其中,α>0,k>0,Ki>0where α>0, k>0, K i >0
则but
定义Lyapunov函数 Define the Lyapunov function
根据李雅普诺夫方法,可以得知V是负定的,因而所提出的控制器是稳定的,能够实现风力发电的稳定控制。According to the Lyapunov method, it can be known that V is negative definite, so the proposed controller is stable and can realize the stable control of wind power generation.
该方法利用了积分滑模控制方法的快速性以及最优转矩法值变化平缓的特点,兼顾MPPT控制的两个目标,在提高风能捕获效率的同时保证了较低的瞬时负载,控制方法简单易行,控制参数易调整。This method takes advantage of the rapidity of the integral sliding mode control method and the smooth change of the optimal torque value, and takes into account the two objectives of MPPT control. It improves the wind energy capture efficiency while ensuring a lower instantaneous load, and the control method is simple. It is easy to operate, and the control parameters are easy to adjust.
同时,本实施例还提供了一种对应的系统,包括风速检测模块、风轮转速检测模块以及积分滑模控制器,其中风速检测模块用于获取风速大小,风轮转速检测模块用于获取风轮的实时转速,积分滑模控制器用于计算后输出电磁转矩,对风机进行跟踪控制。At the same time, this embodiment also provides a corresponding system, including a wind speed detection module, a wind wheel rotational speed detection module, and an integral sliding mode controller, wherein the wind speed detection module is used to obtain the wind speed, and the wind wheel rotational speed detection module is used to obtain the wind speed. The real-time speed of the wheel is calculated, and the integral sliding mode controller is used to calculate and output the electromagnetic torque to track and control the fan.
以下提供具体实施算例详细说明,本实施例所使用的风力发电领域专业的仿真软件FAST(Fatigue,Aerodynamics,Strustures and Turbulence),风机对象为NREL(美国国家可再生能源实验室)提供的Test18样机,该样机是一个5MW的陆地水平三叶风力发电机,其具体参数如表1所示,所使用的软件版本为Fast v8.16,并在Matlab_simulink环境下进行联合仿真。The following provides a detailed description of a specific implementation example. The professional simulation software FAST (Fatigue, Aerodynamics, Strustures and Turbulence) in the field of wind power generation used in this example, and the wind turbine object is the Test18 prototype provided by NREL (National Renewable Energy Laboratory). , the prototype is a 5MW terrestrial horizontal three-blade wind turbine, its specific parameters are shown in Table 1, the software version used is Fast v8.16, and the co-simulation is carried out in the Matlab_simulink environment.
表1:5MW水平轴风力发电机的具体参数Table 1: Specific parameters of 5MW horizontal axis wind turbine
为了模拟现实条件下的实际风速情况,在仿真当中使用了NREL开发的TurbSim软件,并基于Kaimal功率谱生成了120s的湍流风速序列,如图2所示,该湍流风速的平均风速为7m/s,湍流强度为10%。In order to simulate the actual wind speed under realistic conditions, TurbSim software developed by NREL was used in the simulation, and a 120s turbulent wind speed sequence was generated based on the Kaimal power spectrum. As shown in Figure 2, the average wind speed of the turbulent wind speed is 7m/s , the turbulence intensity is 10%.
在MPPT过程中,有两个控制目标,一是最大化风能捕获效率,二是使得发电机的瞬时负载尽可能小。结合图2可以看出,最优转矩法仅仅依靠风力机自身的特性进行调节,整体所捕获的能量是三者中最小的,而本方法捕获风能上较之最优转矩法得到了很大的提高。跟滑模功率控制相比,本方法在功率上整体跟踪效果上稍弱,但是在起始阶段发挥了积分滑模控制的优势,具有更快的响应速度,在低风速区域风速下降的阶段(100s左右)利用到了大型风力机的惯性作用,具有更高的风能捕获效果。In the MPPT process, there are two control objectives, one is to maximize the wind energy capture efficiency, and the other is to make the instantaneous load of the generator as small as possible. Combining with Fig. 2, it can be seen that the optimal torque method only relies on the characteristics of the wind turbine itself for adjustment, and the overall captured energy is the smallest among the three. Compared with the optimal torque method, this method captures the wind energy and obtains a better performance. big improvement. Compared with the sliding mode power control, this method is slightly weaker in the overall tracking effect of power, but it takes advantage of the integral sliding mode control in the initial stage and has a faster response speed. 100s) utilizes the inertial effect of large wind turbines and has a higher wind energy capture effect.
从图3可以看出,最优转矩法牺牲了最优转子转速的跟踪而获得最小的发电机转矩波动,而本方法跟滑模功率控制方法相比,发电机的转矩波动明显要更小,这对延长风力机部件的使用寿命是十分有益的。It can be seen from Figure 3 that the optimal torque method sacrifices the tracking of the optimal rotor speed to obtain the smallest generator torque fluctuation, while this method has a significantly higher generator torque fluctuation compared with the sliding mode power control method. Smaller, which is very beneficial to prolong the service life of wind turbine components.
总之,本方法充分考虑不同控制方法的特性,利用了风机大惯性的特点和积分滑模控制方法的快速性,在提高风力机风能捕获能力的同时了保持了较低的瞬时负载。In a word, this method fully considers the characteristics of different control methods, utilizes the characteristics of large inertia of the wind turbine and the rapidity of the integral sliding mode control method, and maintains a low instantaneous load while improving the wind energy capture capability of the wind turbine.
以上所述是本发明的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明所述原理的前提下,还可以作出若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。The above are the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.
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