CN115506953A - Wind turbine generator modular control method and system based on optimal control - Google Patents

Wind turbine generator modular control method and system based on optimal control Download PDF

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CN115506953A
CN115506953A CN202211038850.1A CN202211038850A CN115506953A CN 115506953 A CN115506953 A CN 115506953A CN 202211038850 A CN202211038850 A CN 202211038850A CN 115506953 A CN115506953 A CN 115506953A
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wind wheel
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李刚
马冲
段博志
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MingYang Smart Energy Group Co Ltd
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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 
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • 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
    • 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
    • F05B2260/84—Modelling or simulation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/101—Purpose of the control system to control rotational speed (n)
    • 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
    • F05B2270/1032—Torque
    • 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
    • F05B2270/40—Type of control system
    • F05B2270/402—Type of control system passive or reactive, e.g. using large wind vanes
    • 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

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Abstract

The invention discloses a wind turbine generator modular control method and system based on optimal control, which execute the following operations: pitch power control: the wind turbine generator power control method is used for generator power control, when the wind speed is larger than a certain threshold value, the wind turbine generator operates above the rated wind speed, the average power of the generator is adjusted to be within the rated power through a variable pitch angle, and the fluctuation of the power is within an acceptable range; controlling the torque and the rotating speed: the wind turbine generator set is used for controlling the rotating speed of a wind wheel, when the wind speed is smaller than a certain threshold value, the wind turbine generator set runs below the rated wind speed, the rotating speed of the wind wheel is adjusted below the rated rotating speed through the torque of a generator, and the power output reaches the maximum. The invention can realize the optimal control of power and rotating speed.

Description

Wind turbine generator modular control method and system based on optimal control
Technical Field
The invention relates to the technical field of wind turbine generator control, in particular to a wind turbine generator modular control method, a wind turbine generator modular control system, a storage medium and a computing device based on optimal control.
Background
In the process of converting wind energy into electric energy, the control of the wind turbine generator is very important. The wind energy utilization efficiency, the stable output of electric energy, the stability of the rotating speed of a wind wheel and the load of the wind turbine generator in the energy conversion process of the wind turbine generator are determined by control. A traditional wind turbine generator control system adopts proportional-integral control to change the pitch and the torque of a generator, a detailed control theoretical model is not established, and a single control method is difficult to enable the control effect to be optimal. Therefore, there is a need to propose a modular optimal control scheme.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a wind turbine generator modular control method based on optimal control, which can realize optimal control of power and rotating speed.
The invention also provides a wind turbine generator modular control system based on the optimal control.
A third object of the present invention is to provide a storage 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 turbine generator modular control method based on optimal control executes the following operations:
pitch power control: the wind turbine generator power control method is used for generator power control, when the wind speed is larger than a certain threshold value, the wind turbine generator operates above the rated wind speed, the average power of the generator is adjusted to be within the rated power through a variable pitch angle, and the fluctuation of the power is within an acceptable range;
controlling the torque and the rotating speed: the method is used for controlling the rotating speed of the wind wheel, when the wind speed is smaller than a certain threshold value, the wind turbine generator operates below the rated wind speed, the rotating speed of the wind wheel is adjusted below the rated rotating speed through the torque of the generator, and the power output reaches the maximum.
Further, for pitch power control, the pitch angle adjustment comprises a power error adjustment term, a wind wheel acceleration compensation term, a feedforward compensation term and a wind wheel unbalance compensation term, and the unified pitch instruction has the following expression:
Figure BDA0003820026470000021
in the above-mentioned formula, the compound of formula,
Figure BDA0003820026470000022
representing a unified variable pitch instruction;
Figure BDA0003820026470000023
representing a power error adjustment term;
Figure BDA0003820026470000024
representing a wind turbine acceleration compensation term;
Figure BDA0003820026470000025
representing a feedforward compensation term;
Figure BDA0003820026470000026
representing a wind wheel imbalance compensation term; dt represents the integral over time;
the power error adjustment term is defined as follows:
Figure BDA0003820026470000027
in the above-mentioned formula, the reaction mixture,
Figure BDA0003820026470000028
representing a power error adjustment term;
Figure BDA0003820026470000029
the partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal; gamma ray p Representing a dynamic power control coefficient for controlling the fluctuation amplitude of the power;
Figure BDA00038200264700000210
representing a first derivative of the generator power;
Figure BDA00038200264700000211
representing the first derivative of the generator reference power; xi p A damping ratio representing pitch power control; omega p Representing a cut-off frequency of pitch power control; p e Representing the generator power; p e,ref Representing a generator reference power; integral (P) e -P e,ref ) dt represents the integral of the generator power deviation;
the wind turbine acceleration compensation term is defined as follows:
Figure BDA00038200264700000212
in the above-mentioned formula, the compound of formula,
Figure BDA00038200264700000213
representing a wind turbine acceleration compensation term;
Figure BDA00038200264700000214
the partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal; j. the design is a square R Representing the equivalent moment of inertia of the wind wheel;
Figure BDA00038200264700000215
representing the second derivative of the rotor speed;
Figure BDA00038200264700000216
representing the first derivative of the rotor speed; omega r Representing the rotational speed of the wind wheel; epsilon R Representing uncertainty in rotor speed;
Figure BDA00038200264700000217
representing the partial derivative of the wind wheel aerodynamic power to the wind wheel rotating speed;
the feed forward compensation term is defined as follows:
Figure BDA0003820026470000031
in the above-mentioned formula, the compound of formula,
Figure BDA0003820026470000032
representing a feedforward compensation term;
Figure BDA0003820026470000033
indicating wind wheel aerodynamic powerFor the partial derivative of the variable pitch, the upper right mark-1 in the formula represents the reciprocal;
Figure BDA0003820026470000034
representing the partial derivative of the wind wheel aerodynamic power to the wind speed;
Figure BDA0003820026470000035
representing the first derivative of the wind speed;
Figure BDA0003820026470000036
the first partial derivative representing the front-to-back velocity at the top of the tower;
the rotor imbalance compensation term is defined as follows:
Figure BDA0003820026470000037
in the above-mentioned formula, the compound of formula,
Figure BDA0003820026470000038
representing a wind wheel imbalance compensation term;
Figure BDA0003820026470000039
the partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal;
Figure BDA00038200264700000310
a first derivative representing an additional pitch angle of blade i;
Figure BDA00038200264700000311
representing the cumulative sum of the additional pitch angle first derivatives of all the blades;
Figure BDA00038200264700000312
representing the partial derivative of the wind wheel aerodynamic power to the wind speed;
Figure BDA00038200264700000313
the first derivative representing the additional wind speed of blade i;
Figure BDA00038200264700000314
representing the cumulative sum of the first derivative of the additional wind speed for all blades.
Further, for torque and speed control, the generator torque adjustment comprises a speed error adjustment term, a speed deviation compensation term and a feedforward compensation term, and the generator torque instruction has the following expression:
Figure BDA00038200264700000315
in the above-mentioned formula, the compound of formula,
Figure BDA00038200264700000316
representing a generator torque command;
Figure BDA00038200264700000317
representing a rotational speed error adjustment term;
Figure BDA00038200264700000318
representing a rotational speed deviation compensation term;
Figure BDA00038200264700000319
representing a feedforward compensation term; dt represents the integral over time;
the rotational speed error adjustment term is defined as follows:
Figure BDA00038200264700000320
in the above-mentioned formula, the compound of formula,
Figure BDA0003820026470000041
representing a rotational speed error adjustment term; j. the design is a square R Representing the equivalent moment of inertia of the wind wheel; n represents the gearbox ratio; gamma ray s Representing a dynamic rotation speed control coefficient for controlling the fluctuation amplitude of the rotation speed;
Figure BDA0003820026470000042
representing the second derivative of the rotor speed;
Figure BDA0003820026470000043
a second derivative representing a reference value of the rotor speed; xi s A damping ratio indicative of torque-to-speed control; omega s Representing a cutoff frequency of torque speed control;
Figure BDA0003820026470000044
representing the first derivative of the rotor speed;
Figure BDA0003820026470000045
representing a first derivative of a reference value of the rotor speed; omega r Representing the rotational speed of the wind wheel; omega r,ref A reference value representing the rotational speed of the rotor;
the rotation speed deviation compensation term is defined as follows:
Figure BDA0003820026470000046
in the above-mentioned formula, the compound of formula,
Figure BDA0003820026470000047
representing a rotational speed deviation compensation term; n represents the gearbox ratio; t is a Representing wind wheel aerodynamic torque;
Figure BDA0003820026470000048
representing the partial derivative of the aerodynamic torque of the wind wheel to the pitch angle;
Figure BDA0003820026470000049
a first derivative representing the pitch angle;
the feed forward compensation term is defined as follows:
Figure BDA00038200264700000410
in the above-mentioned formula, the compound of formula,
Figure BDA00038200264700000411
representing a feedforward compensation term; n represents the gearbox ratio;
Figure BDA00038200264700000412
representing the partial derivative of the aerodynamic torque of the wind wheel to the rotating speed of the wind wheel; epsilon R Representing uncertainty in rotor speed;
Figure BDA00038200264700000413
representing the first derivative of the rotor speed;
Figure BDA00038200264700000414
representing the partial derivative of the aerodynamic torque of the wind wheel to the wind speed;
Figure BDA00038200264700000415
a first derivative representing wind speed;
Figure BDA00038200264700000416
the first partial derivative of the tower top front-to-back velocity is shown.
The second purpose of the invention is realized by the following technical scheme: a wind turbine generator modular control system based on optimal control is used for realizing the wind turbine generator modular control method based on optimal control, and comprises the following steps:
the variable pitch power control module is used for controlling the power of the generator, when the wind speed is greater than a certain threshold value, the wind turbine generator operates above the rated wind speed, the average power of the generator is adjusted to be within the rated power through a variable pitch angle, and the fluctuation of the power is within an acceptable range;
and the torque and rotating speed control module is used for controlling the rotating speed of the wind wheel, when the wind speed is less than a certain threshold value, the wind turbine runs below the rated wind speed, the rotating speed of the wind wheel is regulated below the rated rotating speed through the torque of the generator, and the power output reaches the maximum.
The third purpose of the invention is realized by the following technical scheme: a storage medium stores a program, and when the program is executed by a processor, the wind turbine generator modular control method based on optimal control is realized.
The fourth purpose of the invention is realized by the following technical scheme: the computing device comprises a processor and a memory, wherein the memory is used for storing a program executable by the processor, and when the processor executes the program stored by the memory, the wind turbine generator modular control method based on the optimal control is realized.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the variable pitch power control provided by the invention considers power error adjustment, wind wheel acceleration compensation, feedforward compensation and wind wheel unbalance compensation, and achieves optimal control of power by constructing a detailed control model.
2. The torque and rotating speed control provided by the invention considers rotating speed error adjustment, rotating speed deviation compensation and feedforward compensation, and achieves the optimal control of the rotating speed by constructing a detailed control model.
3. The invention constructs each control module in a modularized mode, so that the logic structure of the control system is clear, and the expandability is good.
Drawings
FIG. 1 is an architectural diagram of the system of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1
The embodiment discloses a wind turbine generator modular control method based on optimal control, which executes the following operations:
pitch power control: the wind turbine generator is used for power control of the generator, when the wind speed is high enough, the wind turbine generator operates above the rated wind speed, the average power of the generator is adjusted to be within the rated power through a variable pitch angle, and the fluctuation of the power is within an acceptable range; wherein, become oar angle modulation and include power error regulation term, wind wheel acceleration compensation term, feedforward compensation term and wind wheel unbalance compensation term, it is as following expression to unify the oar instruction of changing:
Figure BDA0003820026470000061
in the above-mentioned formula, the compound of formula,
Figure BDA0003820026470000062
representing a unified variable pitch instruction;
Figure BDA0003820026470000063
representing a power error adjustment term;
Figure BDA0003820026470000064
representing a wind turbine acceleration compensation term;
Figure BDA0003820026470000065
representing a feedforward compensation term;
Figure BDA0003820026470000066
representing a wind wheel imbalance compensation term; dt represents the integral over time;
the power error adjustment term is defined as follows:
Figure BDA0003820026470000067
in the above-mentioned formula, the compound of formula,
Figure BDA0003820026470000068
representing a power error adjustment term;
Figure BDA0003820026470000069
the partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal; gamma ray p Representing a dynamic power control coefficient for controlling the fluctuation amplitude of the power;
Figure BDA00038200264700000610
representing a first derivative of the generator power;
Figure BDA00038200264700000611
representing the first derivative of the generator reference power; xi shape p A damping ratio representing pitch power control; omega p Representing a cut-off frequency of pitch power control; p e Representing the generator power; p e,ref Representing a generator reference power; integral (P) e -P e,ref ) dt represents the integral of the generator power deviation;
the wind turbine acceleration compensation term is defined as follows:
Figure BDA00038200264700000612
in the above-mentioned formula, the reaction mixture,
Figure BDA0003820026470000071
representing a wind turbine acceleration compensation term;
Figure BDA0003820026470000072
the partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal; j. the design is a square R Representing the equivalent moment of inertia of the wind wheel;
Figure BDA0003820026470000073
representing the second derivative of the rotor speed;
Figure BDA0003820026470000074
representing the first derivative of the rotor speed; omega r Representing the rotational speed of the wind wheel; epsilon R Representing uncertainty in rotor speed;
Figure BDA0003820026470000075
representing the partial derivative of the wind wheel aerodynamic power to the wind wheel rotating speed;
the feed forward compensation term is defined as follows:
Figure BDA0003820026470000076
in the above-mentioned formula, the compound of formula,
Figure BDA0003820026470000077
representing a feedforward compensation term;
Figure BDA0003820026470000078
the partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal;
Figure BDA0003820026470000079
representing the partial derivative of the wind wheel aerodynamic power to the wind speed;
Figure BDA00038200264700000710
representing the first derivative of the wind speed;
Figure BDA00038200264700000711
the first partial derivative representing the front-to-back velocity at the top of the tower;
the rotor imbalance compensation term is defined as follows:
Figure BDA00038200264700000712
in the above-mentioned formula, the compound of formula,
Figure BDA00038200264700000713
representing a wind wheel imbalance compensation term;
Figure BDA00038200264700000714
the partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal;
Figure BDA00038200264700000715
a first derivative representing an additional pitch angle of blade i;
Figure BDA00038200264700000716
representing the cumulative sum of all the blade additional pitch angle first derivatives;
Figure BDA00038200264700000717
representing the partial derivative of the wind wheel aerodynamic power to the wind speed;
Figure BDA00038200264700000718
the first derivative representing the additional wind speed of blade i;
Figure BDA00038200264700000719
representing the cumulative sum of the first derivative of the additional wind speed for all blades.
Controlling the torque and the rotating speed: the wind turbine generator set is used for controlling the rotating speed of a wind wheel, when the wind speed is low, the wind turbine generator set runs below the rated wind speed, the rotating speed of the wind wheel is adjusted below the rated rotating speed through the torque of a generator, and the power output reaches the maximum; the generator torque regulation comprises a rotating speed error regulation term, a rotating speed deviation compensation term and a feedforward compensation term, and the generator torque instruction has the following expression:
Figure BDA0003820026470000081
in the above-mentioned formula, the compound of formula,
Figure BDA0003820026470000082
representing a generator torque command;
Figure BDA0003820026470000083
representing a rotational speed error adjustment term;
Figure BDA0003820026470000084
representing a rotational speed deviation compensation term;
Figure BDA0003820026470000085
representing a feedforward compensation term; dt represents the integral over time;
the rotational speed error adjustment term is defined as follows:
Figure BDA0003820026470000086
in the above-mentioned formula, the compound of formula,
Figure BDA0003820026470000087
representing a rotational speed error adjustment term; j. the design is a square R Representing the equivalent moment of inertia of the wind wheel; n represents the gearbox ratio; gamma ray s Representing a dynamic rotation speed control coefficient for controlling the fluctuation amplitude of the rotation speed;
Figure BDA0003820026470000088
representing the second derivative of the rotor speed;
Figure BDA0003820026470000089
a second derivative representing a reference value of the rotor speed; xi s A damping ratio indicative of torque-to-speed control; omega s Representing a cutoff frequency of torque speed control;
Figure BDA00038200264700000810
representing the first derivative of the rotor speed;
Figure BDA00038200264700000811
a first derivative representing a reference value of the rotor speed; omega r Representing the rotational speed of the wind wheel; omega r,ref A reference value representing the rotational speed of the rotor;
the rotation speed deviation compensation term is defined as follows:
Figure BDA00038200264700000812
in the above-mentioned formula, the compound of formula,
Figure BDA00038200264700000813
representing a rotational speed deviation compensation term; n represents the gearbox ratio; t is a Representing wind wheel aerodynamic torque;
Figure BDA00038200264700000814
representing the partial derivative of the aerodynamic torque of the wind wheel to the pitch angle;
Figure BDA00038200264700000815
representing a first derivative of a pitch angle;
the feed forward compensation term is defined as follows:
Figure BDA00038200264700000816
in the above-mentioned formula, the compound of formula,
Figure BDA00038200264700000817
representing a feedforward compensation term; n represents the gearbox ratio;
Figure BDA00038200264700000818
representing the partial derivative of the aerodynamic torque of the wind wheel to the rotating speed of the wind wheel; epsilon R Representing uncertainty in rotor speed;
Figure BDA0003820026470000091
representing the first derivative of the rotor speed;
Figure BDA0003820026470000092
representing the partial derivative of the aerodynamic torque of the wind wheel to the wind speed;
Figure BDA0003820026470000093
representing the first derivative of the wind speed;
Figure BDA0003820026470000094
the first partial derivative of the tower top front-to-back velocity is shown.
Example 2
The embodiment discloses a wind turbine generator modular control system based on optimal control, which is used for realizing the wind turbine generator modular control method based on optimal control described in embodiment 1, and as shown in fig. 1, the system comprises the following functional modules:
the variable pitch power control module is used for controlling the power of the generator, the variable pitch angle instruction is used as an input variable, and the power of the generator is used as an output variable; when the wind speed is greater than a certain threshold value, the wind turbine generator operates above the rated wind speed, the average power of the generator is adjusted to be within the rated power through the variable pitch angle, and the fluctuation of the power is within an acceptable range;
the torque and rotating speed control module is used for controlling the rotating speed of the wind wheel, the torque instruction of the generator is used as an input variable, and the rotating speed of the wind wheel is used as an output variable; when the wind speed is less than a certain threshold value, the wind turbine generator operates below the rated wind speed, the rotating speed of the wind turbine is adjusted below the rated rotating speed through the torque of the generator, and the power output reaches the maximum.
Example 3
The embodiment discloses a storage medium, which stores a program, and when the program is executed by a processor, the wind turbine generator modular control method based on optimal control described in embodiment 1 is implemented.
The storage 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 turbine generator modular control method based on the optimal control described in embodiment 1 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 embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (6)

1. A wind turbine generator modular control method based on optimal control is characterized by comprising the following operations:
pitch power control: the wind turbine generator power control method is used for generator power control, when the wind speed is larger than a certain threshold value, the wind turbine generator operates above the rated wind speed, the average power of the generator is adjusted to be within the rated power through a variable pitch angle, and the fluctuation of the power is within an acceptable range;
controlling the torque and the rotating speed: the method is used for controlling the rotating speed of the wind wheel, when the wind speed is smaller than a certain threshold value, the wind turbine generator operates below the rated wind speed, the rotating speed of the wind wheel is adjusted below the rated rotating speed through the torque of the generator, and the power output reaches the maximum.
2. The wind turbine generator modular control method based on the optimal control according to claim 1, wherein for the pitch power control, the pitch angle adjustment includes a power error adjustment term, a wind wheel acceleration compensation term, a feedforward compensation term and a wind wheel imbalance compensation term, and the unified pitch instruction has the following expression:
Figure FDA0003820026460000011
in the above-mentioned formula, the compound of formula,
Figure FDA0003820026460000012
representing a unified variable pitch instruction;
Figure FDA0003820026460000013
representing a power error adjustment term;
Figure FDA0003820026460000014
representing a wind turbine acceleration compensation term;
Figure FDA0003820026460000015
representing a feedforward compensation term;
Figure FDA0003820026460000016
representing a wind wheel imbalance compensation term; dt represents the integral over time;
the power error adjustment term is defined as follows:
Figure FDA0003820026460000017
in the above-mentioned formula, the reaction mixture,
Figure FDA0003820026460000018
representing a power error adjustment term;
Figure FDA0003820026460000019
the partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal; gamma ray p Representing a dynamic power control coefficient for controlling the fluctuation amplitude of the power;
Figure FDA00038200264600000110
representing a first derivative of the generator power;
Figure FDA00038200264600000111
representing the first derivative of the generator reference power; xi p A damping ratio representing pitch power control; omega p Representing a cut-off frequency of pitch power control; p is e Representing the generator power; p e,ref Representing a generator reference power; integral (P) e -P e,ref ) dt represents the integral of the generator power deviation;
the wind turbine acceleration compensation term is defined as follows:
Figure FDA0003820026460000021
in the above-mentioned formula, the compound of formula,
Figure FDA0003820026460000022
representing wind wheel acceleration compensation terms；
Figure FDA0003820026460000023
The partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal; j is a unit of R Representing the equivalent moment of inertia of the wind wheel;
Figure FDA0003820026460000024
representing the second derivative of the rotor speed;
Figure FDA0003820026460000025
representing the first derivative of the rotor speed; omega r Representing the rotational speed of the wind wheel; epsilon R Representing uncertainty in rotor speed;
Figure FDA0003820026460000026
representing the partial derivative of the wind wheel aerodynamic power to the wind wheel rotating speed;
the feed forward compensation term is defined as follows:
Figure FDA0003820026460000027
in the above-mentioned formula, the compound of formula,
Figure FDA0003820026460000028
representing a feedforward compensation term;
Figure FDA0003820026460000029
the partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal;
Figure FDA00038200264600000210
representing the partial derivative of the wind wheel aerodynamic power to the wind speed;
Figure FDA00038200264600000211
representing the first derivative of the wind speed;
Figure FDA00038200264600000212
the first partial derivative representing the front-to-back velocity at the top of the tower;
the rotor imbalance compensation term is defined as follows:
Figure FDA00038200264600000213
in the above-mentioned formula, the compound of formula,
Figure FDA00038200264600000214
representing a wind wheel imbalance compensation term;
Figure FDA00038200264600000215
the partial derivative of the wind wheel aerodynamic power to the variable pitch is represented, and the upper right mark-1 in the formula represents the reciprocal;
Figure FDA00038200264600000220
a first derivative representing an additional pitch angle of blade i;
Figure FDA00038200264600000216
representing the cumulative sum of the additional pitch angle first derivatives of all the blades;
Figure FDA00038200264600000217
representing the partial derivative of the wind wheel aerodynamic power to the wind speed;
Figure FDA00038200264600000218
the first derivative representing the additional wind speed of blade i;
Figure FDA00038200264600000219
representing the cumulative sum of the first derivative of the additional wind speed for all blades.
3. The wind turbine generator modular control method based on optimal control as claimed in claim 1, wherein for torque and rotation speed control, the generator torque adjustment includes a rotation speed error adjustment term, a rotation speed bias compensation term and a feedforward compensation term, and the generator torque command has the following expression:
Figure FDA0003820026460000031
in the above-mentioned formula, the compound of formula,
Figure FDA0003820026460000032
representing a generator torque command;
Figure FDA0003820026460000033
representing a rotational speed error adjustment term;
Figure FDA0003820026460000034
representing a rotational speed deviation compensation term;
Figure FDA0003820026460000035
representing a feedforward compensation term; dt represents the integral over time;
the rotational speed error adjustment term is defined as follows:
Figure FDA0003820026460000036
in the above-mentioned formula, the compound of formula,
Figure FDA0003820026460000037
representing a rotational speed error adjustment term; j. the design is a square R Representing the equivalent moment of inertia of the wind wheel; n represents the gearbox ratio; gamma ray s Representing a dynamic rotation speed control coefficient for controlling the fluctuation amplitude of the rotation speed;
Figure FDA0003820026460000038
representing the second derivative of the rotor speed;
Figure FDA0003820026460000039
a second derivative representing a reference value of the rotor speed; xi s A damping ratio indicative of torque-to-speed control; omega s Representing a cutoff frequency of torque speed control;
Figure FDA00038200264600000310
representing the first derivative of the rotor speed;
Figure FDA00038200264600000311
representing a first derivative of a reference value of the rotor speed; omega r Representing the rotational speed of the wind wheel; omega r,ref A reference value representing the rotational speed of the rotor;
the rotation speed deviation compensation term is defined as follows:
Figure FDA00038200264600000312
in the above-mentioned formula, the compound of formula,
Figure FDA00038200264600000313
representing a rotational speed deviation compensation term; n represents the gearbox ratio; t is a Representing wind wheel aerodynamic torque;
Figure FDA00038200264600000314
representing the partial derivative of the aerodynamic torque of the wind wheel to the pitch angle;
Figure FDA00038200264600000315
representing a first derivative of a pitch angle;
the feed forward compensation term is defined as follows:
Figure FDA0003820026460000041
in the above-mentioned formula, the compound of formula,
Figure FDA0003820026460000042
representing a feedforward compensation term; n represents the gearbox ratio;
Figure FDA0003820026460000043
representing the partial derivative of the aerodynamic torque of the wind wheel to the rotating speed of the wind wheel; epsilon R Representing uncertainty in rotor speed;
Figure FDA0003820026460000044
representing the first derivative of the rotor speed;
Figure FDA0003820026460000045
representing the partial derivative of the aerodynamic torque of the wind wheel to the wind speed;
Figure FDA0003820026460000046
representing the first derivative of the wind speed;
Figure FDA0003820026460000047
the first partial derivative of the tower top front-to-back velocity is shown.
4. An optimal control-based wind turbine generator modular control system is characterized in that the optimal control-based wind turbine generator modular control method for realizing any one of claims 1 to 3 comprises the following steps:
the variable pitch power control module is used for controlling the power of the generator, when the wind speed is greater than a certain threshold value, the wind turbine generator operates above the rated wind speed, the average power of the generator is adjusted to be within the rated power through a variable pitch angle, and the fluctuation of the power is within an acceptable range;
and the torque and rotating speed control module is used for controlling the rotating speed of the wind wheel, when the wind speed is less than a certain threshold value, the wind turbine runs below the rated wind speed, the rotating speed of the wind wheel is regulated below the rated rotating speed through the torque of the generator, and the power output reaches the maximum.
5. A storage medium storing a program, wherein the program, when executed by a processor, implements the optimal control-based wind turbine modular control method according to any one of claims 1 to 3.
6. A computing device comprising a processor and a memory for storing a program executable by the processor, wherein the processor implements the wind turbine modular control method based on optimal control according to any one of claims 1 to 3 when executing the program stored in the memory.
CN202211038850.1A 2022-08-29 2022-08-29 Wind turbine generator modular control method and system based on optimal control Pending CN115506953A (en)

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