CN115750205A - Thrust balance control method and system for offshore double-wind-wheel floating type wind turbine generator - Google Patents
Thrust balance control method and system for offshore double-wind-wheel floating type wind turbine generator Download PDFInfo
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Abstract
The invention discloses a thrust balance control method and a system for a marine double-wind-wheel floating type wind turbine generator, which comprises the following steps: 1) Collecting the wind deviation angle of the floating wind turbine generator and performing data processing to obtain the wind deviation effective angle of the floating wind turbine generator; 2) And calculating the variable pitch compensation angle of the two wind wheels according to the effective wind deviation angle of the floating wind turbine generator, and superposing the variable pitch compensation angle to the two wind wheels to realize thrust balance control of the two wind wheels. According to the invention, the wind wheel thrust compensation pitch-variable instruction is obtained by measuring the wind-to-wind deviation angle and calculating, and is applied to the left and right wind wheels of the floating wind turbine generator set, so that the thrust of the double wind wheels is actively balanced, the wind generation of the unit is realized, and the operation load is reduced.
Description
Technical Field
The invention relates to the technical field of wind turbine generator control, in particular to a thrust balance control method, a thrust balance control system, a storage medium and computing equipment for a marine double-wind-wheel floating wind turbine generator.
Background
For the offshore floating wind turbine, the floating foundation, the mooring system and the construction and installation occupy main costs. In order to reduce the unit cost of the floating wind turbine, the operating load of the floating wind turbine needs to be further reduced. In order to realize a floating type wind turbine generator set with larger megawatts, two fans are installed on a floating type foundation to form a double-wind-wheel floating type wind turbine generator set. In the running process of the floating wind turbine generator set, due to the combined action of wind, wave and flow, the thrust of two wind wheels of the floating wind turbine generator set is unbalanced, so that the floating wind turbine generator set has larger wind deviation and increased fatigue load. Therefore, a thrust balance control method of the double wind wheels needs to be provided.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a thrust balance control method of a marine double-wind-wheel floating wind turbine generator.
The second purpose of the invention is to provide a thrust balance control system of the offshore double-wind-wheel floating type wind turbine generator.
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 thrust balance control method of a marine double-wind-wheel floating type wind turbine generator set executes the following operations:
1) Collecting the wind deviation angle of the floating wind turbine generator and performing data processing to obtain the wind deviation effective angle of the floating wind turbine generator;
2) Calculating the variable-pitch compensation angle of the two wind wheels according to the effective wind deviation angle of the floating wind turbine generator, and superposing the variable-pitch compensation angle to the two wind wheels to realize thrust balance control of the two wind wheels.
Further, in the step 1), collecting the wind deflection angle of the floating wind turbine generator through a wind direction sensor, wherein the wind direction sensor can be installed on a floating foundation of the floating wind turbine generator and also can be installed on engine rooms of two wind wheels and moves together with the floating foundation to collect the wind deflection angle of the floating wind turbine generator in real time; a plurality of wind direction sensors can be mounted on the floating wind turbine generator, and the redundant wind direction sensors can increase the reliability of wind deviation angle measurement; if a plurality of wind direction sensors are adopted, the wind direction deviation of the unit can be obtained through a weighting mode by a plurality of measured values;
the specific formula for the wind deviation angle is as follows:
in the above-mentioned formula, the reaction mixture,
representing the wind deviation angle of the unit; theta 1 Represents the wind deviation angle measured by the wind direction sensor 1; eta 1 A weighting coefficient indicating the wind direction sensor 1; theta 2 Represents the wind deviation angle measured by the wind direction sensor 2; eta 2 A weighting coefficient indicating the wind direction sensor 2; theta.theta. n Representing the wind deviation angle measured by the wind direction sensor n; eta n A weighting coefficient representing a wind direction sensor n; weighting coefficient eta 1 、η 2 To eta n The value range of (1) is 0, the sensor with high precision selects the large weighting coefficient and meets the sum eta of the weighting coefficients 1 +η 2 +…+η n Equal to 1;
in order to avoid the interference of high-frequency noise to the measurement data, necessary filtering is carried out on the wind deviation angle of the unit, a filter comprises low-pass filtering and band-elimination filtering, high-frequency components in the wind deviation angle data are attenuated, the wind deviation angle of the filtered unit is called as a wind deviation effective angle, and the specific formula is as follows:
in the above formula, [ theta ] is F Representing the effective angle of the wind deviation; f(s) denotes a wind bias filter.
Further, in step 2), the effective angle of the wind deviation of the floating wind turbine unit reflects the unbalanced degree of the thrust of the two wind wheels, and the control is divided into the following two conditions:
in the first case: when the effective angle of the wind deviation is larger than or equal to zero;
at this moment, right side wind wheel thrust is greater than left side wind wheel, consequently, through the variable pitch angle that increases right side wind wheel to reduce the thrust of right side wind wheel, make the thrust of two wind wheels reach the balance, specific formula is as follows:
in the above formula, β R,1 Representing the final pitch instruction of the right wind turbine blade 1; beta is a beta R,2 Representing the final pitch command for the right wind turbine blade 2; beta is a R,3 Representing the final pitch command of the right wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a right wind wheel variable pitch controller; k is a radical of p Representing a thrust balance control proportional gain; theta F Representing the effective angle of the wind deviation; k is a radical of i Representing the thrust balance control integral gain; integral number theta F dt represents the product of the effective angle of the wind deviationDividing; if (theta) F Not less than 0) represents a judgment condition, when the effective angle of the wind deviation is not less than zero;
through the independent variable pitch angle of stack on the wind wheel of left side, provide the moment around mooring point clockwise gyration, make the unit around mooring point clockwise deflection, reduce the deviation to wind, specific formula is as follows:
in the above formula, β L,1 Representing the final pitch instruction of the left wind turbine blade 1; beta is a L,2 Representing the final pitch command for the left wind turbine blade 2; beta is a L,3 Representing the final pitch command of the left wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a left wind wheel variable pitch controller; a. The L Representing the gain of the left wind wheel restoring moment; phi is a L,1 Indicating the azimuth angle of the left wind turbine blade 1; phi is a unit of L,2 Indicating the azimuth angle of the left rotor blade 2; phi is a unit of L,3 Indicating the azimuth angle of the left rotor blade 3; omega r,L Representing the left wind wheel speed; τ represents the pitch system time delay; if (θ) F Not less than 0) represents a judgment condition, when the effective angle of the wind deviation is not less than zero;
in the second case: when the effective angle of the wind deviation is less than zero;
at this moment, left side wind wheel thrust is greater than the right side wind wheel, consequently, through the variable pitch angle that increases the left side wind wheel to reduce the thrust of left side wind wheel, make the thrust of two wind wheels reach the balance, specific formula is as follows:
in the above formula,. Beta. L,1 Representing the final pitch instruction of the left wind turbine blade 1; beta is a L,2 Representing the final pitch command for the left wind turbine blade 2; beta is a L,3 Representing the final pitch command of the left wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a left wind wheel variable pitch controller; k is a radical of p Representing a thrust balance control proportional gain; theta F Representing the effective angle of the wind deviation; k is a radical of i Representing the thrust balance control integral gain; (-theta) factor Vi F ) dt represents the integral of the wind deviation effective angle; if (θ) F Less than 0) represents a judgment condition when the effective angle of the wind deviation is less than zero;
through the independent variable pitch angle of stack on the right side wind wheel, provide the moment around mooring point anticlockwise gyration, make the unit around mooring point anticlockwise deflection, reduce the deviation to wind, specific formula is as follows:
in the above formula, β R,1 Representing the final pitch instruction of the right wind turbine blade 1; beta is a R,2 Representing the final pitch command of the right wind turbine blade 2; beta is a R,3 Representing the final pitch command of the right wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a right wind wheel variable pitch controller; a. The R Representing the right wind wheel restoring moment gain; phi is a R,1 Indicating the azimuth angle of the right wind turbine blade 1; phi is a R,2 Indicating the azimuth angle of the right rotor blade 2; phi is a R,3 Indicating the azimuth angle of the right rotor blade 3; omega r,R Representing the right wind wheel speed; τ represents pitch system time delay; if (theta) F < 0) represents a judgment condition when the effective angle is less than zero with respect to the wind deviation.
Further, based on the average wind speed of the current floating wind turbine generator, optimal thrust balance control proportional gain, thrust balance control integral gain and return moment gain are provided for thrust balance control of the two wind wheels;
in the normal operation process of the floating wind turbine, the thrust of the wind wheel is reduced along with the increase of the average wind speed, so that the optimal thrust balance control proportional gain, the optimal thrust balance control integral gain and the optimal return moment gain are changed along with the wind speed in different average wind speed intervals, and for this reason, the following table look-up functions are defined:
in the above formula, k p Representing a thrust balance control proportional gain; k is a radical of i Representing the thrust balance control integral gain; a. The L Representing the gain of the left wind wheel restoring moment; a. The R Representing the right wind wheel restoring moment gain; lookup _ k p Representing a thrust balance control proportional gain table look-up function; loookup _ k i Integral gain look-up function for expressing thrust balance controlCounting; lookup _ A L Representing a table look-up function of the return torque gain of the left wind wheel; lookup _ A R Representing a table look-up function of the return torque gain of the right wind wheel;
representing the filtered average wind speed.
The second purpose of the invention is realized by the following technical scheme: a thrust balance control system of a marine double-wind-wheel floating type wind turbine generator set is used for realizing the thrust balance control method of the marine double-wind-wheel floating type wind turbine generator set, and comprises the following steps:
the wind alignment deviation measuring module is used for acquiring a wind alignment deviation angle of the floating wind turbine generator and performing data processing to obtain a wind alignment deviation effective angle of the floating wind turbine generator;
the thrust balance control module calculates the variable pitch compensation angles of the two wind wheels according to the effective wind deviation angle of the floating wind turbine generator set, and realizes thrust balance control of the two wind wheels by superposing the variable pitch compensation angles to the two wind wheels;
and the nonlinear gain scheduling module outputs optimal thrust balance control proportional gain, thrust balance control integral gain and return torque gain for the thrust balance control module based on the average wind speed of the current floating wind turbine generator.
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 thrust balance control method of the offshore double-wind-wheel floating type wind turbine generator set is realized.
The fourth purpose of the invention is realized by the following technical scheme: the computing equipment 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 thrust balance control method of the offshore double-wind-wheel floating type wind turbine generator set is realized.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the measured effective angle of the wind deviation, the variable pitch compensation angles of the two wind wheels are calculated, and the thrust of the double wind wheels is actively balanced.
2. According to the invention, by introducing independent variable pitch control, moment revolving clockwise or anticlockwise around a mooring point is provided, so that the unit deflects clockwise or anticlockwise around the mooring point, and the windward deviation is reduced.
3. The invention can be used for controlling wind by a larger megawatt double-wind-wheel floating type wind turbine generator set, and realizes the stable and reliable control process and the minimum pitch variation action.
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 thrust balance control method of a marine double-wind-wheel floating type wind turbine generator, which comprises the following steps:
1) The wind direction sensor is used for collecting the wind deviation angle of the floating wind turbine generator and completing necessary data processing to obtain the effective wind deviation angle.
The floating type foundation of the double-wind-wheel floating type wind turbine generator set adopts a single-point mooring mode, and the floating type foundation can freely rotate around a mooring point and passively drifts along with the wind direction under the action of the thrust of the wind wheel. The wind direction sensor can be arranged on a floating type base of the floating type wind turbine generator and can also be arranged on engine rooms of the two wind wheels to move together with the floating type base, and the wind direction sensor collects the wind deviation angle of the floating type wind turbine generator in real time. A plurality of wind direction sensors can be installed on the floating type wind turbine generator, and the redundancy wind direction sensors can improve the reliability of wind deviation angle measurement. If a plurality of wind direction sensors are used, the wind direction deviation of the unit can be obtained by weighting a plurality of measurement values.
The specific formula of the wind deviation angle is as follows:
in the above-mentioned formula, the compound of formula,
representing the wind deviation angle of the unit; theta.theta. 1 Represents the wind deviation angle measured by the wind direction sensor 1; eta 1 A weighting coefficient indicating the wind direction sensor 1; theta.theta. 2 Represents the wind deviation angle measured by the wind direction sensor 2; eta 2 A weighting coefficient indicating the wind direction sensor 2; theta.theta. n Representing the wind deviation angle measured by the wind direction sensor n; eta n A weighting coefficient representing a wind direction sensor n; weighting coefficient eta 1 、η 2 To eta n The value range of (1) is 0, the sensor with high precision can select large weighting coefficient, and the sum eta of the weighting coefficients is satisfied 1 +η 2 +…+η n Equal to 1.
In order to avoid the interference of high-frequency noise to the measured data, necessary filtering is carried out on the wind deviation angle of the unit. The filter comprises low-pass filtering and band-stop filtering, and attenuates high-frequency components in the windage deviation angle data. The wind deviation angle of the filtered unit is called as a wind deviation effective angle, and the specific formula is as follows:
in the above formula, θ F Representing the effective angle of the wind deviation; f(s) denotes a wind bias filter.
2) And calculating the variable pitch compensation angle of the two wind wheels according to the effective wind deviation angle of the floating wind turbine generator, and superposing the variable pitch compensation angle to the two wind wheels to realize thrust balance control of the two wind wheels.
The floating foundation of the floating wind turbine generator floats on the water surface, and the floating foundation is maintained to move in a certain area by the aid of a mooring system. Since the floating foundation is not fixed to the seabed, the floating wind turbine will move with the waves, ocean currents, turbulence and wind shear. When the thrust forces exerted on the two wind wheels of the floating wind turbine generator are not balanced, the whole floating foundation rotates around the mooring point. If the thrust of the left wind wheel of the floating wind turbine generator is larger than that of the right wind wheel, the floating wind turbine generator deflects clockwise around the mooring point to cause a negative windward deviation angle; if the thrust of the right wind wheel of the floating wind turbine is larger than that of the left wind wheel, the floating wind turbine deflects anticlockwise around a mooring point, and a positive wind-aligning deviation angle is caused.
The effective angle of the floating wind turbine generator against wind deviation reflects the unbalanced degree of thrust of the two wind wheels. The control is divided into the following two cases:
in the first case: when the effective angle of deviation to wind is greater than or equal to zero.
At the moment, the thrust of the right wind wheel is greater than that of the left wind wheel. Therefore, the thrust of the right wind wheel is reduced by increasing the variable pitch angle of the right wind wheel, and the thrust of the two wind wheels is balanced. The specific formula is as follows:
in the above formula,. Beta. R,1 Representing the final pitch command of the right wind turbine blade 1; beta is a R,2 Representing the final pitch command of the right wind turbine blade 2; beta is a R,3 Representing the final pitch command of the right wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a right wind wheel variable pitch controller; k is a radical of formula p Representing a thrust balance control proportional gain; theta F Representing the effective angle of the wind deviation; k is a radical of i Indicating thrust balance control integral increaseBenefiting; integral multiple of theta F dt represents the integral of the wind deviation effective angle; if (θ) F ≧ 0) represents a determination condition when the effective angle for wind deviation is greater than or equal to zero.
The independent variable pitch angle is superposed on the left wind wheel, so that moment rotating around the mooring point clockwise is provided, the unit deflects around the mooring point clockwise, and the windward deviation is reduced. The specific formula is as follows:
in the above formula, β L,1 Representing the final pitch instruction of the left wind turbine blade 1; beta is a beta L,2 Representing the final pitch command for the left wind turbine blade 2; beta is a L,3 Representing the final pitch command of the left wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a left wind wheel variable pitch controller; a. The L Representing the left wind wheel restoring moment gain; phi is a unit of L,1 The azimuth angle of the left wind turbine blade 1 is shown; phi is a L,2 Indicating the azimuth angle of the left rotor blade 2; phi is a L,3 Indicating the azimuth angle of the left rotor blade 3; omega r,L Representing the left wind wheel speed; τ represents the pitch system time delay; if (theta) F Not less than 0) represents a judgment condition when the effective angle of deviation to wind is not less than zero.
In the second case: when the effective angle of the wind deviation is less than zero.
At the moment, the thrust of the left wind wheel is greater than that of the right wind wheel. Therefore, the variable pitch angle of the left wind wheel is increased to reduce the thrust of the left wind wheel, so that the thrust of the two wind wheels is balanced. The specific formula is as follows:
in the above formula, β L,1 Representing the final pitch instruction of the left wind turbine blade 1; beta is a L,2 Representing the final pitch command for the left wind turbine blade 2; beta is a L,3 Representing the final pitch command of the left wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a left wind wheel variable pitch controller; k is a radical of formula p Representing a thrust balance control proportional gain; theta.theta. F Representing the effective angle of the wind deviation; k is a radical of i Representing the thrust balance control integral gain; (-theta) factor Vi F ) dt represents the integral of the wind deviation effective angle; if (theta) F < 0) represents a judgment condition when the effective angle for wind deviation is less than zero.
By superposing the independent variable pitch angle on the right wind wheel, the moment rotating around the mooring point in the anticlockwise direction is provided, so that the unit deflects around the mooring point in the anticlockwise direction, and the windward deviation is reduced. The concrete formula is as follows:
in the above formula,. Beta. R,1 Representing the final pitch instruction of the right wind turbine blade 1; beta is a R,2 Representing the final pitch command of the right wind turbine blade 2; beta is a R,3 Representing the final pitch command of the right wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a right wind wheel variable pitch controller; a. The R Representing the right wind wheel restoring moment gain; phi is a unit of R,1 Indicating the azimuth angle of the right wind turbine blade 1; phi is a unit of R,2 Indicating the azimuth angle of the right rotor blade 2; phi is a R,3 Indicating the azimuth angle of the right rotor blade 3; omega r,R Representing the right wind wheel speed; τ represents pitch system time delay; if (theta) F < 0) represents a judgment condition when the effective angle for wind deviation is less than zero.
Further, based on the average wind speed of the current floating wind turbine generator, optimal thrust balance control proportional gain, thrust balance control integral gain and return moment gain are provided for thrust balance control of the two wind wheels;
in the normal operation process of the floating wind turbine, the thrust of the wind wheel is reduced along with the increase of the average wind speed, so that the optimal thrust balance control proportional gain, the optimal thrust balance control integral gain and the optimal return moment gain are changed along with the wind speed in different average wind speed intervals, and for this reason, the following table look-up functions are defined:
in the above formula, k p Representing a thrust balance control proportional gain; k is a radical of i Representing the thrust balance control integral gain; a. The L Representing the gain of the left wind wheel restoring moment; a. The R Representing the right wind wheel restoring moment gain; loookup _ k p Representing a thrust balance control proportional gain table look-up function; lookup (u)k i Representing a thrust balance control integral gain table look-up function; lookup _ A L A table look-up function for representing the return torque gain of the left wind wheel; lookup _ A R A table look-up function for representing the return torque gain of the right wind wheel;
representing the filtered average wind speed.
Example 2
The embodiment discloses a thrust balance control system of a marine double-wind-wheel floating type wind turbine generator, which is used for realizing the thrust balance control method of the marine double-wind-wheel floating type wind turbine generator in embodiment 1, and as shown in fig. 1, the system comprises the following functional modules:
the wind deviation measurement module is used for acquiring a wind deviation angle of the floating wind turbine generator and performing data processing to obtain a wind deviation effective angle of the floating wind turbine generator;
the thrust balance control module calculates the variable pitch compensation angles of the two wind wheels according to the effective wind deviation angle of the floating wind turbine generator set, and realizes thrust balance control of the two wind wheels by superposing the variable pitch compensation angles to the two wind wheels;
and the nonlinear gain scheduling module outputs optimal thrust balance control proportional gain, thrust balance control integral gain and return torque gain for the thrust balance control module based on the average wind speed of the current floating wind turbine generator.
Example 3
The embodiment discloses a storage medium, which stores a program, and when the program is executed by a processor, the thrust balance control method of the offshore double-wind-wheel floating wind turbine generator set 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, wherein the memory is used for storing an executable program of the processor, and when the processor executes the program stored in the memory, the thrust balance control method of the offshore double-wind-wheel floating wind turbine generator set in the 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 modifications are intended to be included in the scope of the present invention.
Claims (7)
1. A thrust balance control method of a marine double-wind-wheel floating type wind turbine generator set is characterized by comprising the following operations:
1) Collecting the wind deviation angle of the floating wind turbine generator and performing data processing to obtain the wind deviation effective angle of the floating wind turbine generator;
2) Calculating the variable-pitch compensation angle of the two wind wheels according to the effective wind deviation angle of the floating wind turbine generator, and superposing the variable-pitch compensation angle to the two wind wheels to realize thrust balance control of the two wind wheels.
2. The thrust balance control method of the offshore double-wind-wheel floating wind turbine generator set according to claim 1, characterized in that in step 1), the wind direction deviation angle of the floating wind turbine generator set is collected through a wind direction sensor, and the wind direction sensor can be installed on a floating foundation of the floating wind turbine generator set and also can be installed on a cabin of two wind wheels, and moves together with the floating foundation to collect the wind direction deviation angle of the floating wind turbine generator set in real time; a plurality of wind direction sensors can be mounted on the floating wind turbine generator, and the redundant wind direction sensors can increase the reliability of wind deviation angle measurement; if a plurality of wind direction sensors are adopted, the wind direction deviation of the unit can be obtained through a weighting mode by a plurality of measured values;
the specific formula for the wind deviation angle is as follows:
in the above-mentioned formula, the reaction mixture,
representing the wind deviation angle of the unit; theta.theta. 1 Represents the wind deviation angle measured by the wind direction sensor 1; eta 1 A weighting coefficient indicating the wind direction sensor 1; theta.theta. 2 Represents the wind deviation angle measured by the wind direction sensor 2; eta 2 A weighting coefficient indicating the wind direction sensor 2; theta n Representing the wind deviation angle measured by the wind direction sensor n; eta n A weighting coefficient representing a wind direction sensor n; weighting coefficient eta 1 、η 2 To eta n The value range of (1) is between 0 and 1, the sensor with high precision selects a large weighting coefficient and meets the sum eta of the weighting coefficients 1 +η 2 +…+η n Equal to 1;
in order to avoid the interference of high-frequency noise to the measurement data, necessary filtering is carried out on the wind deviation angle of the unit, a filter comprises low-pass filtering and band-elimination filtering, high-frequency components in the wind deviation angle data are attenuated, the wind deviation angle of the filtered unit is called as a wind deviation effective angle, and the specific formula is as follows:
in the above formula, θ F Representing the effective angle of the wind deviation; f(s) denotes a wind bias filter.
3. The thrust balance control method of the offshore double-wind-wheel floating wind turbine generator set according to claim 2, characterized in that in step 2), the effective wind deviation angle of the floating wind turbine generator set reflects the thrust imbalance degree of two wind wheels, and the control is divided into the following two cases:
in the first case: when the effective angle of the wind deviation is larger than or equal to zero;
at this moment, right side wind wheel thrust is greater than left side wind wheel, consequently, through the variable pitch angle that increases right side wind wheel to reduce the thrust of right side wind wheel, make the thrust of two wind wheels reach the balance, specific formula is as follows:
in the above formula, β R,1 Representing the final pitch command of the right wind turbine blade 1; beta is a R,2 Representing the final pitch command for the right wind turbine blade 2; beta is a R,3 Representing the final pitch command of the right wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a right wind wheel variable pitch controller; k is a radical of p Representing a thrust balance control proportional gain; theta F Representing the effective angle of the wind deviation; k is a radical of i Representing the thrust balance control integral gain; integral multiple of theta F dt represents the integral of the wind deviation effective angle; if (theta) F Not less than 0) represents a judgment condition when the effective angle of the wind deviation is not less than zero;
through the independent variable pitch angle of stack on the wind wheel of left side, provide the moment around mooring point clockwise gyration, make the unit around mooring point clockwise deflection, reduce the deviation to wind, specific formula is as follows:
in the above formula, β L,1 Representing the final pitch instruction of the left wind turbine blade 1; beta is a L,2 Representing the final pitch command for the left wind turbine blade 2; beta is a beta L,3 Representing the final pitch command of the left wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a left wind wheel variable pitch controller; a. The L Representing the left wind wheel restoring moment gain; phi is a L,1 The azimuth angle of the left wind turbine blade 1 is shown; phi is a L,2 Indicating the azimuth angle of the left rotor blade 2; phi is a L,3 Indicating the azimuth angle of the left rotor blade 3; omega r,L Representing the left wind wheel speed; τ represents the pitch system time delay; if (theta) F Not less than 0) represents a judgment condition when the effective angle of the wind deviation is not less than zero;
in the second case: when the effective angle of the wind deviation is less than zero;
at this moment, left side wind wheel thrust is greater than the right side wind wheel, consequently, through the variable pitch angle that increases the left side wind wheel to reduce the thrust of left side wind wheel, make the thrust of two wind wheels reach the balance, specific formula is as follows:
in the above formula,. Beta. L,1 Representing the final pitch instruction of the left wind turbine blade 1; beta is a L,2 Representing the final pitch command for the left wind turbine blade 2; beta is a beta L,3 Representing the final pitch command of the left wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a left wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a left wind wheel variable pitch controller; k is a radical of p Representing a thrust balance control proportional gain; theta.theta. F Representing the effective angle of the wind deviation; k is a radical of formula i Representing the thrust balance control integral gain; (-theta) factor Vi F ) dt represents the integral of the wind deviation effective angle; if (theta) F Less than 0) represents a judgment condition, and when the effective angle of the wind deviation is less than zero;
through the independent variable pitch angle of stack on the right side wind wheel, provide the moment around mooring point anticlockwise gyration, make the unit around mooring point anticlockwise deflection, reduce the deviation to wind, specific formula is as follows:
in the above formula,. Beta. R,1 Representing the final pitch command of the right wind turbine blade 1; beta is a R,2 Representing the final pitch command of the right wind turbine blade 2; beta is a beta R,3 Representing the final pitch command of the right wind turbine blade 3;
representing a blade 1 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 2 variable pitch instruction output by a right wind wheel variable pitch controller;
representing a blade 3 variable pitch instruction output by a right wind wheel variable pitch controller; a. The R Representing the right wind wheel restoring moment gain; phi is a R,1 Indicating the azimuth angle of the right wind turbine blade 1; phi is a unit of R,2 Indicating the azimuth angle of the right rotor blade 2; phi is a R,3 Indicating the azimuth angle of the right rotor blade 3; omega r,R Representing the right wind wheel speed; τ represents pitch system time delay; if (theta) F < 0) represents a judgment condition when the effective angle for wind deviation is less than zero.
4. The thrust balance control method of the offshore double-wind-wheel floating wind turbine generator set according to claim 3, wherein based on the average wind speed of the current floating wind turbine set, optimal thrust balance control proportional gain, thrust balance control integral gain and return moment gain are provided for thrust balance control of two wind wheels;
in the normal operation process of the floating wind turbine, the thrust of the wind wheel is reduced along with the increase of the average wind speed, so that the optimal thrust balance control proportional gain, the optimal thrust balance control integral gain and the optimal return moment gain are changed along with the wind speed in different average wind speed intervals, and for this reason, the following table look-up functions are defined:
in the above formula, k p Representing a thrust balance control proportional gain; k is a radical of i Representing the thrust balance control integral gain; a. The L Representing the gain of the left wind wheel restoring moment; a. The R Representing the right wind wheel restoring moment gain; loookup _ k p Table for looking up proportional gain of thrust balance controlA function; loookup _ k i Representing a thrust balance control integral gain table look-up function; lookup _ A L Representing a table look-up function of the return torque gain of the left wind wheel; lookup _ A R Representing a table look-up function of the return torque gain of the right wind wheel;
representing the filtered average wind speed.
5. A thrust balance control system of an offshore double-wind-wheel floating wind turbine generator set is used for realizing the thrust balance control method of the offshore double-wind-wheel floating wind turbine set, which comprises the following steps:
the wind alignment deviation measuring module is used for acquiring a wind alignment deviation angle of the floating wind turbine generator and performing data processing to obtain a wind alignment deviation effective angle of the floating wind turbine generator;
the thrust balance control module is used for calculating the variable pitch compensation angle of the two wind wheels according to the effective wind deviation angle of the floating wind turbine generator set, and the variable pitch compensation angle is superposed on the two wind wheels to realize thrust balance control of the two wind wheels;
and the nonlinear gain scheduling module outputs optimal thrust balance control proportional gain, thrust balance control integral gain and restoring moment gain for the thrust balance control module based on the average wind speed of the current floating wind turbine generator.
6. A storage medium storing a program, wherein the program, when executed by a processor, implements the thrust balance control method for an offshore dual wind turbine floating wind turbine according to any one of claims 1 to 4.
7. A computing device comprising a processor and a memory for storing a processor executable program, wherein the processor when executing the program stored in the memory implements the method of thrust balance control for an offshore dual wind turbine floating wind turbine as claimed in any one of claims 1 to 4.
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| CN117231424B (en) * | 2023-11-13 | 2024-02-06 | 中国海洋大学 | Floating fan typhoon-resisting method based on ultralow rotation speed control |
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