CN202157900U - Wind turbine generator paddle changing control system based on internal model proportion integration differentiation (PID) - Google Patents
Wind turbine generator paddle changing control system based on internal model proportion integration differentiation (PID) Download PDFInfo
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- CN202157900U CN202157900U CN2011201885752U CN201120188575U CN202157900U CN 202157900 U CN202157900 U CN 202157900U CN 2011201885752 U CN2011201885752 U CN 2011201885752U CN 201120188575 U CN201120188575 U CN 201120188575U CN 202157900 U CN202157900 U CN 202157900U
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- 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
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- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The utility model discloses a wind turbine generator paddle changing control system based on internal model proportion integration differentiation (PID), which comprises a paddle changing system inner model controller, a paddle changing transmission system, a paddle changing system model and a feedback filter. The paddle changing system inner model controller is connected with the paddle changing transmission system and the paddle changing system model. The paddle changing transmission system and the paddle changing system model are connected with the feedback filter. Output of the feedback filter is fed back to an input end of the paddle changing system inner model controller. The wind turbine generator paddle changing control system based on internal model PID can reduce influence of mismatch error on the system and improve robustness of the system.
Description
Technical field
The utility model relates to technical field of wind power generation, particularly the controller of wind-powered electricity generation set pitch control control system.
Background technique
Wind energy is a kind of pollution-free, reproducible clean energy resource.The wind-driven generator unit mainly contains following three parts and forms: wind wheel, cabin and tower tube.The effect of wind wheel is absorbing wind energy and converts it into mechanical energy that the generator set that is positioned at the cabin converts mechanical energy to electric energy, is transported on the electrical network.Wind wheel partly is the major component of blower fan, and the control system of wind wheel is referred to as variable blade control system, the design that becomes the oar controller naturally just important one in the control system of wind turbines encircled.The quality that becomes the oar control performance not only is related to the effect of absorbing wind energy, but also the Safety performance of wind-powered electricity generation unit is had great significance.
Present variable blade control system mainly divides for constant speed is decided pitch control, the control of constant speed Variable Pitch, speed change decides pitch control and the speed-changing oar-changing square is controlled four kinds of modes.What application was more at present is speed-changing oar-changing square control mode.
Speed-changing oar-changing square control mode is exactly the pitch angle that blade is rotated to setting according to the actual demand of blower fan control system; Each blade supports through revolution respectively and is connected with wheel hub; Through becoming oar motor and speed reducer, realize pitch angle adjusting continuously between working position and feather position.The major function of Variable Pitch mechanism be exactly near the rated speed (more than); According to change of wind velocity, regulate the pitch angle of blade at any time, the wind energy that control absorbs; Guarantee to obtain maximum energy on the one hand; Reduce the impact of wind-force simultaneously, and guarantee finally to reach the generating efficiency of raising whole wind electric field and the purpose of the quality of power supply also realizing not having fast to impact being incorporated into the power networks in the network process to the wind-powered electricity generation unit.
Present change oar control strategy mainly is single loop PID control.But because the controlled device of variable blade control system is wind wheel and becomes the oar frequency variator and become the servo-system that the oar motor is formed; And system has severe nonlinear, a hysteresis quality; Along with the appearance of wind high-power blower fan, this non-linear more serious with hysteresis loop, conventional pid control mode seems unable to do what one wishes; Be in particular in that conventional PID control has reached control requirement on the one hand often; But problem on the other hand also can appear simultaneously, can not be exhaustive, be difficult to improve the overall performance of whole system.
Therefore, how to design a kind of wind-powered electricity generation set pitch control control system,, be those skilled in the art's research direction place to solve the problems of the technologies described above based on Internal Model PID.
Summary of the invention
The main purpose of the utility model provides a kind of wind-powered electricity generation set pitch control control system based on Internal Model PID, to solve existing problem in the above-mentioned existing technology.
In order to achieve the above object; The utility model provides a kind of wind-powered electricity generation set pitch control control system based on Internal Model PID; It comprises; One pitch-controlled system internal mode controller, one becomes oar transmission system, a pitch-controlled system model and a feedback filter; Wherein said pitch-controlled system internal mode controller links to each other with described change oar transmission system and described pitch-controlled system model, and described change oar transmission system and described pitch-controlled system model link to each other with described feedback filter, and the output of described feedback filter feeds back to the input end of described pitch-controlled system internal mode controller.
In the preferred implementation, described change oar transmission system is a real pitch-controlled system.
In the preferred implementation, described pitch-controlled system model comprises a linear system model and a nonlinear system model.
In the preferred implementation, the output of said linear system model feeds back to the input end of said pitch-controlled system internal mode controller.
Compared with prior art; The beneficial effect of the utility model is: the characteristics that not only have traditional PID control based on the PID controller (IMC-PID) of internal mold; And be highly suitable for than large time delay; Obvious nonlinear system has and follows the tracks of that modulability is good, strong robustness, can eliminate the influence of unpredictable interference, guarantees robustness and stability more easily.In addition, conventional PID controller 3 parameters of in actual application, need adjusting, and, help the application of control system like this based on the controller of Internal Model PID 1 parameter of in actual application, only need adjusting.
Description of drawings
Fig. 1 is that the utility model is formed schematic representation based on the wind-powered electricity generation set pitch control control system of Internal Model PID;
Fig. 2 forms schematic representation for the utility model based on wind-powered electricity generation set pitch control control system one embodiment of Internal Model PID.
Description of reference numerals: 1-oar system internal mode controller (GI
MC); 2-becomes oar transmission system (G
P); 3-pitch-controlled system model (G
M), 31-linear system model (Gm); 32-nonlinear system model (Gnl); 4-feedback filter (G
F).
Embodiment
Below in conjunction with accompanying drawing, do more detailed explanation with other technical characteristics and advantage to the utility model is above-mentioned.
As shown in Figure 1, it is a kind of wind-powered electricity generation set pitch control control system composition schematic representation based on Internal Model PID of the utility model, and it comprises: a pitch-controlled system internal mode controller (G
IMC) 1, one change oar transmission system (G
P) 2, one pitch-controlled system model (G
M) 3 and one feedback filter (G
F) 4.Wherein, the setting value r of a variable blade control system is input to described pitch-controlled system internal mode controller (G
IMC) in 1, described pitch-controlled system internal mode controller (G
IMC) 1 with described change oar transmission system (G
P) 2 and described pitch-controlled system model (G
M) 3 link to each other described change oar transmission system (G
P) 2 and described pitch-controlled system model (G
M) 3 with described feedback filter (G
F) 4 link to each other described feedback filter (G
F) 4 output terminal feeds back to described pitch-controlled system internal mode controller (G
IMC) 1 input end.
Symbol in accompanying drawing 1 control structure is described as follows at present:
R: the setting value of variable blade control system;
Y: actual change oar position;
U: the output value of pitch-controlled system internal mode controller;
D: the disturbance value of system;
E: the difference that becomes the vane angle degree;
e
M: control model mismatch error.
Be somebody's turn to do the design of Controller based on the wind-powered electricity generation set pitch control control system of Internal Model PID, be to have introduced internal model control with other differences that become oar PID controller, it is with pitch-controlled system internal mode controller (G
IMC) 1 go to confirm the parameter of PID controller, the wind-powered electricity generation set pitch control control system adjustment process of this Internal Model PID is following:
At first, set up pitch-controlled system model (G
M) 3, then according to pitch-controlled system model (G
M) 3 design pitch-controlled system internal mode controller (G
IMC) 1, pitch-controlled system model (G wherein
M) 3 when being minimum phase system, pitch-controlled system internal mode controller (G
IMC) 1 be pitch-controlled system model (G
M) 3 inverse system.As pitch-controlled system model (G
M) 3 with become oar transmission system (G
P) 2 when being complementary, control model mismatch error e
MCan ignore, the variable blade control system of this moment is an open system so, pitch-controlled system internal mode controller (G
IMC) 1 be again to become oar transmission system (G
P) 2 inverse system, so the output y of pitch-controlled system just equals the setting value r of variable blade control system.Yet, as pitch-controlled system model (G
M) 3 with become oar transmission system (G
P) 2 can not accurately mate the time, will there be control model mismatch error e
M, this control model mismatch error e
MThrough feedback filter (G
F) 4 effect, regulate, so just reduced the influence of mismatch error to system, increased the robustness of system.Wherein above-mentioned change oar transmission system (G
P) 2 be a real pitch-controlled system.What need specification is, the utility model is not merely to three-vaned wind power generating set, so long as the wind-powered electricity generation unit that the speed-changing oar-changing system arranged is all in its protection domain.
As shown in Figure 2, for the utility model is formed schematic representation based on wind-powered electricity generation set pitch control control system one embodiment of Internal Model PID; In this system, described pitch-controlled system model (G
M) 3 comprising a linear system model (Gm) 31 and a nonlinear system model (Gnl) 32, the output of said linear system model (Gm) 31 feeds back to said pitch-controlled system internal mode controller (G
IMC) 1 input end.
In sum; The utility model is based on the PID controller (IMC-PID) of internal mold; It not only has the characteristics of traditional PID control, and has been highly suitable for than large time delay, obvious nonlinear system; Have and follow the tracks of that modulability is good, strong robustness, can eliminate the influence of unpredictable interference, guarantee robustness and stability more easily.In addition, conventional PID controller 3 parameters of in actual application, need adjusting, and, help the application of control system like this based on the controller of Internal Model PID 1 parameter of in actual application, only need adjusting.
More than explanation is just illustrative as far as the utility model; And nonrestrictive, those of ordinary skills understand, under the situation of spirit that does not break away from following accompanying claims and limited and scope; Can make many modifications; Change, or equivalence, but all will fall in the protection domain of the utility model.
Claims (4)
1. wind-powered electricity generation set pitch control control system based on Internal Model PID; It is characterized in that; It comprises; One pitch-controlled system internal mode controller, one becomes oar transmission system, a pitch-controlled system model and a feedback filter; Wherein said pitch-controlled system internal mode controller links to each other with described change oar transmission system and described pitch-controlled system model, and described change oar transmission system and described pitch-controlled system model link to each other with described feedback filter, and the output of described feedback filter feeds back to the input end of described pitch-controlled system internal mode controller.
2. a kind of wind-powered electricity generation set pitch control control system based on Internal Model PID according to claim 1 is characterized in that, described change oar transmission system is a real pitch-controlled system.
3. a kind of wind-powered electricity generation set pitch control control system based on Internal Model PID according to claim 1 is characterized in that described pitch-controlled system model comprises a linear system model and a nonlinear system model.
4. a kind of wind-powered electricity generation set pitch control control system based on Internal Model PID according to claim 3 is characterized in that the output of said linear system model feeds back to the input end of said pitch-controlled system internal mode controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201885752U CN202157900U (en) | 2011-06-07 | 2011-06-07 | Wind turbine generator paddle changing control system based on internal model proportion integration differentiation (PID) |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201885752U CN202157900U (en) | 2011-06-07 | 2011-06-07 | Wind turbine generator paddle changing control system based on internal model proportion integration differentiation (PID) |
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| Publication Number | Publication Date |
|---|---|
| CN202157900U true CN202157900U (en) | 2012-03-07 |
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|---|---|---|---|
| CN2011201885752U Expired - Fee Related CN202157900U (en) | 2011-06-07 | 2011-06-07 | Wind turbine generator paddle changing control system based on internal model proportion integration differentiation (PID) |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102890449A (en) * | 2012-09-20 | 2013-01-23 | 河北工业大学 | Wind turbine generator system variable-pitch controller design method based on finite time robust stability |
| CN103291543A (en) * | 2013-06-20 | 2013-09-11 | 上海电力学院 | Design method of fan variable pitch controller method based on sliding mode control theory |
| CN103294029A (en) * | 2013-05-15 | 2013-09-11 | 华南理工大学 | Special efficient data-driven internal-model polynomial controller for industrial processes |
| CN103498759A (en) * | 2013-09-29 | 2014-01-08 | 国电南瑞科技股份有限公司 | Fault-tolerant control method of stroke of generator hydraulic servomotor |
| CN103511169A (en) * | 2013-10-23 | 2014-01-15 | 东南大学 | Wave power generation device suitable for lakes and control method of wave power generation device |
| CN108488036A (en) * | 2018-05-04 | 2018-09-04 | 曲阜师范大学 | Wind-powered electricity generation magnetic suspension yaw system suspension control method based on model mismatch compensator |
| CN111608868A (en) * | 2020-05-27 | 2020-09-01 | 上海海事大学 | Maximum power tracking adaptive robust control system and method for wind power generation system |
-
2011
- 2011-06-07 CN CN2011201885752U patent/CN202157900U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102890449A (en) * | 2012-09-20 | 2013-01-23 | 河北工业大学 | Wind turbine generator system variable-pitch controller design method based on finite time robust stability |
| CN102890449B (en) * | 2012-09-20 | 2016-03-02 | 河北工业大学 | Based on the Wind turbines Variable-pitch Controller method for designing of finite time robust stability |
| CN103294029A (en) * | 2013-05-15 | 2013-09-11 | 华南理工大学 | Special efficient data-driven internal-model polynomial controller for industrial processes |
| CN103291543A (en) * | 2013-06-20 | 2013-09-11 | 上海电力学院 | Design method of fan variable pitch controller method based on sliding mode control theory |
| CN103291543B (en) * | 2013-06-20 | 2015-10-28 | 上海电力学院 | Based on the design variable-pitch controller for wind power generator method of sliding mode control theory |
| CN103498759A (en) * | 2013-09-29 | 2014-01-08 | 国电南瑞科技股份有限公司 | Fault-tolerant control method of stroke of generator hydraulic servomotor |
| CN103498759B (en) * | 2013-09-29 | 2015-12-02 | 国电南瑞科技股份有限公司 | A kind of fault tolerant control method of stroke of generator hydraulic servomotor |
| CN103511169A (en) * | 2013-10-23 | 2014-01-15 | 东南大学 | Wave power generation device suitable for lakes and control method of wave power generation device |
| CN108488036A (en) * | 2018-05-04 | 2018-09-04 | 曲阜师范大学 | Wind-powered electricity generation magnetic suspension yaw system suspension control method based on model mismatch compensator |
| CN108488036B (en) * | 2018-05-04 | 2019-10-25 | 曲阜师范大学 | Wind-powered electricity generation magnetic suspension yaw system suspension control method based on model mismatch compensator |
| CN111608868A (en) * | 2020-05-27 | 2020-09-01 | 上海海事大学 | Maximum power tracking adaptive robust control system and method for wind power generation system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: SINOVEL WIND POWER (JILIN) EQUIPMENT CO., LTD. Free format text: FORMER OWNER: SINOVEL WIND (GROUP) CO., LTD. Effective date: 20131018 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 100872 HAIDIAN, BEIJING TO: 137000 BAICHENG, JILIN PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20131018 Address after: 137000 Baicheng Industrial Park, Jilin Patentee after: Sinovel Equipment Co. Ltd. (Jilin) Address before: 100872, 19 floor, building 59, Zhongguancun Avenue, Beijing, Haidian District Patentee before: Sinovel Wind Group Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120307 Termination date: 20200607 |