CN115450835A - Relaxation centralized control system, method, medium and equipment for wind power complete machine - Google Patents
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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
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- F05B2270/00—Control
- F05B2270/70—Type of control algorithm
- F05B2270/706—Type of control algorithm proportional-integral-differential
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- 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 relaxation centralized control system, a relaxation centralized control method, a relaxation centralized control medium and relaxation centralized control equipment for a wind turbine complete machine, wherein the relaxation centralized control system comprises a data stream importing module, a periodic variable iteration module, a1 xN high-dimensional array function processing module, a digital algebraic ring fault evasion processing module, a filtering module and an incremental PID algorithm module, the debugging cost of field faults of a wind turbine generator set is reduced, debugging bugs with open early codes are avoided, the problems of digital simulation output and visualization/imaging display functions are solved, real-time digital software in-the-loop simulation verification is realized, and the running reliability of control software of the wind turbine generator set is improved; compared with development technologies such as CoDesys, NET Framework, VS (C + + \ C), ST software and the like, the development method can meet the requirements on power generation function, load reduction, simulation, digitization and control strategy development, replaces and upgrades control and simulation functions which are not available in the traditional method, and effectively processes the difficulties of difficult maintenance of handwritten codes such as complexity, mutual exclusion, interweaving, parallelism, input and output mutual influence and the like.
Description
Technical Field
The invention relates to the technical field of power generation control of wind turbine generators, in particular to a relaxation centralized control system, method, medium and equipment for a wind turbine complete machine.
Background
The development of the wind power controller control algorithm logic technology which is accurate, efficient, universal, portable, expandable and easy to operate is particularly important on the aspects of cleaning new energy and green energy industry.
However, the traditional wind generating set control software development schemes are all implemented in the form of software codes such as CoDeSys,. NET Framework, VS (C + + \ C), ST, and the like, and have more functional disadvantages:
1. particularly, aiming at a main control platform part controlled by a wind power complete machine, the problems of simulation output and visualization/imaging verification cannot be solved, and necessary software digitization in-loop simulation verification (SIL) is lacked;
2. the whole process of manually compiling, modifying and optimizing codes is complicated, the research and development cost on time and manpower is increased, and the real-time binding tracking of signals or data attributes cannot be carried out;
3. a data dictionary with a memory function cannot be established to tabulate control of a huge number of parameters, and modular function codes cannot be packaged and stored;
4. multithreading multi-redundancy control of control code logic is difficult to perform, the test risk of first code opening cannot be prevented, and early debugging Bug is solved;
5. editing functions such as data deletion, addition and updating of 'one-key in place' cannot be realized, meanwhile, the control process of the wind power complete machine is multi-coupling cross closed-loop control, and if the precise control of data periodic time delay is not well held, more digital algebraic ring faults can be caused, so that the cumulative deviation circulation is enlarged, and the precision, the reliability, the stability and the like of wind power generation control are not facilitated.
Therefore, in order to effectively solve the above problems, there is an urgent need to design and develop a wind power complete machine relaxation centralized control system and method Based on the MBD (Model Based Development) technology, which can avoid the digital algebraic ring fault, and have a very important promoting effect on the research of the wind power complete machine digital multi-coupling closed-loop control system and the joint simulation technology.
Disclosure of Invention
The invention aims to solve the defects in the prior art, provides a relaxation centralized control system of a complete wind turbine generator based on an MBD embedded technology, reduces the debugging cost of field faults of a wind turbine generator, avoids early code open debugging bugs, solves the problems of digital simulation output and visualization/imaging display functions, and realizes real-time digital software-in-loop simulation verification, thereby improving the running reliability of control software of the wind turbine generator.
The second purpose of the invention is to provide a wind power complete machine relaxation centralized control method based on the MBD embedded technology.
A third object of the invention is to provide a non-transitory computer readable medium.
It is a fourth object of the invention to provide a computing device.
The first purpose of the invention is realized by the following technical scheme: a wind power complete machine relaxation centralized control system based on an MBD embedded technology comprises:
the data flow importing module is used for importing data flows of the wind power complete machine;
the periodic variable iteration module is used for reading, initializing and updating the data stream according to a preset adoption period;
the 1 XN high-dimensional array function processing module is used for processing a high-dimensional 1 XN array in the calculation data stream;
the digital algebraic ring fault evasion processing module is used for adding a delay module in a feedback loop of the system to eliminate algebraic ring faults and simultaneously carry out fault reminding;
the filtering module is used for carrying out filtering operation on the data stream and eliminating noise and error disturbance of the data stream;
and the incremental PID algorithm module is used for executing incremental PID control.
Further, the types of the data stream include ADC data, an array, and an analog quantity.
Further, the periodic variable iteration module performs the following operations:
when the fan is stopped, the data flow stops updating; when the fan starts, the data flow starts to be updated, and whether the adopted period T is 0 or not is inquired for each start action; if the adoption period T is 0, defining the state quantity in the first adoption period as 0, and the state quantities of other adoption periods except the first adoption period as 1, and then verifying whether the state quantity is 0 or not; if the adopted period T is not 0, directly verifying whether the state quantity is 0, and if the state quantity is 0, defining the variable as an initial value; and if the state quantity is not 0, iteratively updating the variable and outputting the variable.
Further, the 1 × N high-dimensional array function processing module performs the following operations:
processing a high-dimensional 1 XN array based on the Function or stateflow module Function of the MATLAB, allocating the size of the 1 XN array as a dynamic memory in advance, defining Data, an input trigger and a Function call output by using Ports and Data Manager of the module, accessing the defined variables of the Ports and Data Manager to be Variable or non-Variable attributes, selecting the size attribute of the high-dimensional array Variable and checking a Variable size option.
Further, the digital algebraic ring fault avoidance processing module performs the following operations:
selecting the processing information of the algebraic ring based on diagnostics in simulink, wherein the processing information of the algebraic ring is selected as 'error'; meanwhile, a delay module is added in a feedback loop to eliminate an algebraic ring; wherein the delay module comprises a delay module and a memory module.
Further, the filtering module performs the following operations:
before the data stream is input into other modules, the noise and error disturbance are large, at this time, the value at the specified frequency point needs to be obtained through filtering processing, and the transfer function of the filter for processing is as follows:
transfer function of Notch filter:
transfer function of second order low pass filter:
transfer function of band pass filter:
where ξ is the damping ratio in the filter unit, ω is the center frequency or eigen natural frequency of the filter, τ is the time constant, s is the complex frequency, K is the constant gain in the filter unit, K =1 is chosen.
Further, the incremental PID algorithm modeling module performs the following operations:
based on the Simulink solver, a fixed step length is adopted, the sampling period is T =0.01s, and the incremental PID formula is as follows:
ΔP(k)＝K p [E(k)-E(k-1)]+K i E(k)+K d [E(k)-2E(k-1)+E(k-2)]
wherein, E (k) is a PID input control quantity function, k is a sampling point under a discrete system with the period T =0.01s, the relation between the PID coefficient and the variable pitch control angle theta is processed by using a lookup table, and the value range of the variable pitch control angle theta is as follows: a1< θ < a2 (rad); the value range of the P coefficient Kp is as follows: b1< Kp < b2; the value range of the I coefficient Ki is as follows: c1< Ki < c2; the value range of the D coefficient Kd is as follows: d1< Kd < d2.
The second purpose of the invention is realized by the following technical scheme: when the steps in the method are executed, a processor calls the data stream import module, the periodic variable iteration module, the 1 xN high-dimensional array function processing module, the digital algebraic ring fault avoidance processing module, the filtering module and the incremental PID algorithm module in the wind power complete machine relaxation centralized control system based on the MBD embedded technology so as to realize the corresponding functions in each module.
The third purpose of the invention is realized by the following technical scheme: a non-transitory computer readable medium storing instructions which, when executed by a processor, perform the steps of the wind power complete machine relaxation centralized control method based on the MBD embedded technology described above.
The fourth purpose of the invention is realized by the following technical scheme: a computing device comprises a processor and a memory for storing an executable program of the processor, and when the processor executes the program stored in the memory, the wind power complete machine relaxation centralized control method based on the MBD embedded technology is realized.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. compared with development technologies such as CoDesys,. NET Framework, VS (C + + \ C), ST software and the like, the development requirements of a centralized control system on power generation function, load reduction, simulation, digitization and control strategy development in the later period can be met, the development advantages of the MBD technology can be utilized to replace and upgrade control and simulation functions which are not available in the traditional method, and the difficulty that handwritten codes are difficult to maintain, such as complexity, mutual exclusion, interweaving, parallelism, input and output mutual influence and the like, is effectively handled;
2. the method can effectively process information interaction among different levels and different nestings of the wind power centralized control system, and can quickly operate to solve the problem of a large number of digital algebraic ring faults;
3. the short board which can not realize simulation output, digital control and data verification in the control program of the main control platform in the wind power industry at present is made up;
4. each module in the invention can realize the multithreading redundancy control function in real time, and solve the problem of single logic operation from top to bottom in the traditional code logic;
5. the invention can run through the complete development chain of the requirements, design, real-time simulation, calibration and on-hook test of a software scheme, realize early functional verification, effectively avoid debugging Bug and promote the effects of reducing cost and improving efficiency.
Drawings
FIG. 1 is a flowchart of the operation of a periodic variable iteration module.
Fig. 2 is a flow chart of the operation of the filtering module.
FIG. 3 is a turbulent wind speed data graph which is calculated and processed by a relaxation centralized control system of a wind power complete machine.
FIG. 4 is a tower acceleration data graph which is calculated and processed by a wind power complete machine relaxation centralized control system.
FIG. 5 is a pitch angle data graph which is calculated and processed by a relaxation centralized control system of a wind power complete machine.
FIG. 6 is a look-up table output plot of the coefficient Kp of the PID algorithm.
Fig. 7 is a table look-up output graph of the coefficients Ki of the PID algorithm.
FIG. 8 is a look-up table output plot of the coefficient Kd of the PID algorithm.
FIG. 9 is a comparison and verification diagram of consistency of Torque control Torque _ command and Pitch control Pitch _ command under a Bladed platform under a turbulent wind condition.
FIG. 10 is a comparison and verification diagram of Torque control Torque _ demand and pitch control consistency under a wind power complete machine relaxation centralized control system under a turbulent wind working condition.
Detailed Description
The present invention will be further described with reference to the following specific examples.
Example 1
Referring to fig. 1 to 2, the MBD embedded technology is an embedded software development technology that is efficient, easy to understand, and capable of implementing software and hardware in the loop simulation (SIL/HIL), and that utilizes Matlab to include m-file development/Simulink modeling/Stateflow combined modeling/Simscape module/package control/look-up table/scope/instrument panel, and that also flexibly develops functions such as data management and control function, parameter configuration, solver setting, function module, and initialization, and the like, and the wind power complete machine relaxation centralized control system based on the MBD embedded technology provided in this embodiment includes:
the data flow importing module is used for importing data flow of the wind power complete machine, and the specific Matlab operation process is as follows:
data stream loading of a Root-level input port is usually developed by using a function of mapping data by using a Root import Mapper tool, an import module represents input, signals arriving at an input port on a Subsystem module flow out from an associated import module, and when an associated loading data variable is set, names, numbers and sequence of the ports can be automatically modified according to requirements.
Model Configuration Parameters>Data Import/Export>Input.
M file, generated _ measured _ timeVector1= xlsread (saved file of external data. Xlsx ', ' table number ', ' array first and last number ');
Generatorspeed_measured_timeVector2＝(Generatorspeed_measured_timeVector1)'；
Generatorspeed_measured＝timeseries(Generatorspeed_measured_timeVector2,timeVector)；
untitled＝Simulink.SimulationData.Dataset；
untitled＝untitled.addElement(Generatorspeed_measured,'Generatorspeed_measured')；
the periodic variable iteration module is used for reading and initializing the data stream according to a preset adoption period and executing the following operations:
when the fan is stopped, the data flow stops updating; when the fan starts, the data flow starts to be updated, and whether the adopted period T is 0 or not is inquired for each start action; if the adoption period T is 0, defining the state quantity in the first adoption period as 0, and the state quantities of other adoption periods except the first adoption period as 1, and then verifying whether the state quantity is 0 or not; if the adopted period T is not 0, directly verifying whether the state quantity is 0, and if the state quantity is 0, defining the variable as an initial value; and if the state quantity is not 0, iteratively updating the variable and outputting the variable.
The 1 XN high-dimensional array function processing module is used for processing a high-dimensional 1 XN array in the calculation data stream and executing the following operations:
processing a high-dimensional 1 XN array based on the Function or stateflow module Function of the MATLAB, allocating the size of the 1 XN array as a dynamic memory in advance, defining Data, an input trigger and a Function call output by using Ports and Data Manager of the module, accessing the defined variables of the Ports and Data Manager to be Variable or non-Variable attributes, selecting the size attribute of the high-dimensional array Variable and checking a Variable size option.
Such as: array name = zeros (1,23), and arrays defining 1 × 23 are allocated in advance. Meanwhile, the Ports and Data Manager of the module can be used for defining Data, inputting triggers and function call output, and the attributes of variable or invariable variables can be defined by accessing the Ports and Data Manager. The size property selection of the high-dimensional array Variable is Variable, while setting the size to [1 ] and checking the Variable size option.
The digital algebraic ring fault evasion processing module is used for adding a delay module in a feedback loop of the system to eliminate algebraic ring faults, simultaneously performing fault reminding and executing the following operations:
selecting the processing information of the algebraic ring based on diagnostics in simulink, wherein the processing information of the algebraic ring is selected as 'error'; meanwhile, a delay module is added in a feedback loop to eliminate an algebraic ring; wherein the delay module comprises a delay module and a memory module.
A filtering module, configured to perform a filtering operation on a data stream to eliminate noise and error disturbance of the data stream, and perform the following operations:
before the data stream is input into other modules, the noise and error disturbance are large, at this time, the value at the specified frequency point needs to be obtained through filtering processing, and the transfer function of the filter for processing is as follows:
transfer function of Notch filter:
transfer function of second order low pass filter:
transfer function of band pass filter:
where ξ is the damping ratio in the filter unit, ω is the center frequency or the eigen natural frequency of the filter, τ is the time constant, s is the complex frequency, K is the constant gain in the filter unit, and K =1 is selected. The modules used are: saturration, switch, constant, subtrect, add, unit Delay, logical Operator, complex To Constant, switch Case, merge, subsystem, goto/from, switch Case Action Subsystem, etc.; two subsystems are packaged in the middle, one is responsible for the working condition and calculation of a filter transfer function numerator, and the other is responsible for the working condition and calculation of a filter transfer function denominator; the realization of the number, the output quantity and the difference quantity is carried out later, which is beneficial to the function switching, the compatibility and the parameter modification of the three filters.
The incremental PID algorithm module is used for executing incremental PID control and executing the following operations:
based on a Simulink solver, a fixed step length is adopted, the sampling period is T =0.01s, and an incremental PID formula is as follows:
ΔP(k)＝K p [E(k)-E(k-1)]+K i E(k)+K d [E(k)-2E(k-1)+E(k-2)]
wherein E (k) is a PID input control quantity function, k is a sampling point under a discrete system with a period T =0.01s, the relation between the PID coefficient and the variable pitch control angle theta is processed by using a table look-up, and the value range of the variable pitch control angle theta is as follows: a1< θ < a2 (rad); the value range of the P coefficient Kp is as follows: b1< Kp < b2; the value range of the I coefficient Ki is as follows: c1< Ki < c2; the value range of the D coefficient Kd is as follows: d1< Kd < d2.
The working conditions that the simulation control test time is set for 600s, the sampling period is 0.01s, and the wind speed of a turbulent wind environment is 15m/s are taken as examples. Based on a Bladed combined simulation platform, data stream acquisition is carried out on input variables of turbulence wind speed, tower acceleration and pitch angle angles, after acquisition, control is carried out on the input variables by using excel files in a unified mode, then a data stream importing module is adopted to import the input variables into each module, and digital data analysis after importing is shown in figures 3 to 5;
referring to fig. 6 to 8, table look-up output graphs of PID coefficients Kp, ki and Kd processed by the wind power complete machine relaxation centralized control system are shown.
Referring to fig. 9 to 10, based on the relaxation centralized control system of the wind power complete machine, the output quantity of Torque _ command in Torque control and the output quantity of Torque _ command in pitch control are obtained, and then compared with the blanked simulation output data under the original controller bottom layer code, a consistency verification effect graph is obtained. Through a large amount of data application and simulation under different working conditions, the output data of the wind power complete machine under the control of the MBD technology is highly consistent with the output data under the actual wind speed working condition of the Bladed software, and the error rate is low. Meanwhile, the defects of the traditional technology can be effectively overcome, and the relaxation centralized control system and method for the complete wind power machine are simple and easy to operate, efficient and universal, strong in digital function and easy to expand and upgrade later-period functions.
Example 2
The embodiment discloses a wind power complete machine relaxation centralized control method based on an MBD embedded technology, and when the steps in the method are executed, a processor calls the data stream import module, the periodic variable iteration module, the 1 xN high-dimensional array function processing module, the digital algebraic ring fault processing module, the filtering module and the incremental PID algorithm evasion module in the wind power complete machine relaxation centralized control system based on the MBD embedded technology in the embodiment 1 so as to realize the corresponding functions in each module.
Example 3
The embodiment discloses a non-transitory computer readable medium storing instructions which, when executed by a processor, perform the steps of the wind turbine complete machine relaxation centralized control method based on the MBD embedded technology according to embodiment 2.
The non-transitory computer readable medium in this embodiment may be a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a Random Access Memory (RAM), a usb disk, a removable hard disk, or other media.
Example 4
The embodiment discloses a computing device, which comprises a processor and a memory for storing an executable program of the processor, wherein when the processor executes the program stored in the memory, the wind power complete machine relaxation centralized control method based on the MBD embedded technology in embodiment 2 is realized.
The computing device in this embodiment may be a desktop computer, a notebook computer, a smart phone, a PDA handheld terminal, a tablet computer, a Programmable Logic Controller (PLC), or other terminal devices with a processor function.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that the changes in the shape and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides a wind-powered electricity generation complete machine relaxation centralized control system based on MBD embedded technology which characterized in that includes:
the data flow importing module is used for importing the data flow of the wind power complete machine;
the periodic variable iteration module is used for reading and initializing the data stream according to a preset adoption period;
the 1 XN high-dimensional array function processing module is used for processing a high-dimensional 1 XN array in the calculation data stream;
the digital algebraic ring fault evasion processing module is used for adding a delay module in a feedback loop of the system to eliminate algebraic ring faults and simultaneously carry out fault reminding;
the filtering module is used for carrying out filtering operation on the data stream and eliminating noise and error disturbance of the data stream;
and the incremental PID algorithm module is used for executing incremental PID control.
2. The wind power complete machine relaxation centralized control system based on the MBD embedded technology as claimed in claim 1, wherein: the types of data streams include ADC data, arrays, and analog quantities.
3. The wind power complete machine relaxation centralized control system based on the MBD embedded technology as claimed in claim 1, wherein the periodic variable iteration module performs the following operations:
when the fan is stopped, the data flow stops updating; when the fan is started, the data flow starts to be updated, and whether the adopted period T is 0 or not is inquired for each starting action; if the adoption period T is 0, defining the state quantity in the first adoption period as 0, and the state quantities of other adoption periods except the first adoption period as 1, and then verifying whether the state quantity is 0 or not; if the adopted period T is not 0, directly verifying whether the state quantity is 0, and if the state quantity is 0, defining the variable as an initial value; and if the state quantity is not 0, iteratively updating the variable and outputting the variable.
4. The relaxation centralized control system of the complete wind turbine based on the MBD embedded technology as claimed in claim 1, wherein the 1 XN high-dimensional array function processing module performs the following operations:
processing a high-dimensional 1 XN array based on the Function or stateflow module Function of the MATLAB, allocating the size of the 1 XN array as a dynamic memory in advance, defining Data, an input trigger and a Function call output by using Ports and Data Manager of the module, accessing the defined variables of the Ports and Data Manager to be Variable or non-Variable attributes, selecting the size attribute of the high-dimensional array Variable and checking a Variable size option.
5. The wind power complete machine relaxation centralized control system based on the MBD embedded technology as claimed in claim 1, wherein the digital algebraic ring fault evasion processing module performs the following operations:
selecting the processing information of the algebraic ring based on diagnostics in simulink, wherein the processing information of the algebraic ring is selected as 'error'; meanwhile, a delay module is added in a feedback loop to eliminate an algebraic ring; wherein the delay module comprises a delay module and a memory module.
6. The relaxation centralized control system for the complete wind turbine based on the MBD embedded technology as claimed in claim 1, wherein the filtering module performs the following operations:
before the data stream is input into other modules, the noise and error disturbance are large, at this time, the value at the specified frequency point needs to be obtained through filtering processing, and the transfer function of the filter for processing is as follows:
transfer function of Notch filter:
transfer function of second order low pass filter:
transfer function of band pass filter:
where ξ is the damping ratio in the filter unit, ω is the center frequency or eigen natural frequency of the filter, τ is the time constant, s is the complex frequency, K is the constant gain in the filter unit, K =1 is chosen.
7. The wind power complete machine relaxation centralized control system based on the MBD embedded technology as claimed in claim 1, wherein the incremental PID algorithm modeling module performs the following operations:
based on the Simulink solver, a fixed step length is adopted, the sampling period is T =0.01s, and the incremental PID formula is as follows:
ΔP(k)＝K p [E(k)-E(k-1)]+K i E(k)+K d [E(k)-2E(k-1)+E(k-2)]
wherein E (k) is a PID input control quantity function, k is a sampling point under a discrete system with a period T =0.01s, the relation between the PID coefficient and the variable pitch control angle theta is processed by using a table look-up, and the value range of the variable pitch control angle theta is as follows: a1< θ < a2 (rad); the value range of the P coefficient Kp is as follows: b1< Kp < b2; the value range of the I coefficient Ki is as follows: c1< Ki < c2; the value range of the D coefficient Kd is as follows: d1< Kd < d2.
8. A wind power complete machine relaxation centralized control method based on an MBD embedded technology is characterized in that when steps in the method are executed, a processor calls the data flow leading-in module, the periodic variable iteration module, the 1 xN high-dimensional array function processing module, the digital algebraic ring fault avoiding processing module, the filtering module and the incremental PID algorithm module in the wind power complete machine relaxation centralized control system based on the MBD embedded technology according to claims 1-7 so as to achieve corresponding functions in each module.
9. A non-transitory computer-readable medium storing instructions, wherein the instructions, when executed by a processor, perform the steps of the wind farm relaxation centralized control method based on MBD embedded technology of claim 8.
10. A computing device comprising a processor and a memory for storing a program executable by the processor, wherein the processor implements the wind power complete machine relaxation centralized control method based on the MBD embedded technology as claimed in claim 8 when executing the program stored in the memory.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210982887.3A CN115450835A (en) | 2022-08-16 | 2022-08-16 | Relaxation centralized control system, method, medium and equipment for wind power complete machine |
| CN202310361273.8A CN116538004A (en) | 2022-08-16 | 2023-04-06 | Relaxation centralized control system, method, medium and equipment for wind power complete machine |
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| CN202210982887.3A CN115450835A (en) | 2022-08-16 | 2022-08-16 | Relaxation centralized control system, method, medium and equipment for wind power complete machine |
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| CN202310361273.8A Pending CN116538004A (en) | 2022-08-16 | 2023-04-06 | Relaxation centralized control system, method, medium and equipment for wind power complete machine |
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