WO2008046942A1 - Identification d'éoliennes en boucle fermée - Google Patents

Identification d'éoliennes en boucle fermée Download PDF

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Publication number
WO2008046942A1
WO2008046942A1 PCT/ES2007/000584 ES2007000584W WO2008046942A1 WO 2008046942 A1 WO2008046942 A1 WO 2008046942A1 ES 2007000584 W ES2007000584 W ES 2007000584W WO 2008046942 A1 WO2008046942 A1 WO 2008046942A1
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WO
WIPO (PCT)
Prior art keywords
identification
models
wind turbine
closed loop
input
Prior art date
Application number
PCT/ES2007/000584
Other languages
English (en)
Spanish (es)
Inventor
Javier SANZ RODRÍGUEZ
Mikel Lasa Morán
Miguel Iribas Latour
Ioan-Doré LANDAU
Original Assignee
Fundación Cener-Ciemat
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fundación Cener-Ciemat filed Critical Fundación Cener-Ciemat
Publication of WO2008046942A1 publication Critical patent/WO2008046942A1/fr

Links

Classifications

    • 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 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • 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 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
    • 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 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/046—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with learning or adaptive control, e.g. self-tuning, fuzzy logic or neural network
    • 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
    • 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
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • 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
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • 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
    • 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

Definitions

  • the present invention is related to the functional control of wind turbines, proposing a closed loop identification system for said application.
  • a wind turbine is a very complex mechanism, which includes a large number of mechanical elements, actuators, aerodynamic elements, etc.
  • a wind turbine is an extremely complex mechanism to analyze independently, which makes it extremely complex to correctly adjust the entire number of parameters that, together with the dynamics equations, describe the behavior of the wind turbine.
  • This method basically has two limitations or contraindications.
  • the first of the limitations is that it is not advisable to make this type of identification in open loop when the integrity of the machine can be compromised by operating in said mode.
  • the second of the limitations comes from the fact of not having access to the power source that governs the behavior of the machine. In the case of a wind turbine, we are therefore faced with two limitations that open loop identification techniques present.
  • Open loop identification is a technique known and widely used in the field of control and other scientific or financial areas.
  • the concept of identification in the field of control refers to a method for experimentally obtaining input-output models of a mechanism or machine.
  • the concept of open loop refers in turn to the fact that the system is developed without the control of the application mechanism or machine being active, which makes the system operate freely.
  • This open loop identification technique is developed experimentally, based on a specific configuration in relation to the system for which the application is intended.
  • the conventional controller design process is developed using linear models obtained from non-linear simulators.
  • the protocols and linearization algorithms are diverse, but they have in common that they are numerical methods and that they are based exclusively on the theoretical equations that describe the behavior of a wind turbine.
  • This protocol consists in applying a differential impulse to the different inputs to the non-linear models. These can be wind speed, pitch angle and generator torque, etc. After these small disturbances, the wind turbine is allowed to evolve freely.
  • the derivatives of all the states defined by the non-linear simulator are estimated and from these values that are obtained, linear models of the machine to be controlled are determined, with which the controllers are designed and then implemented in real machines .
  • closed loop refers to the fact that the control loops that automatically govern the behavior of a mechanism, are active during the normal operation of the machine.
  • a system of identification of closed-loop wind turbines is proposed, by means of which linear models that accurately represent the dynamic behavior of the application wind turbine can be obtained, such models being used for various purposes, such as controller design, use as part of a control algorithm, parameter identification, component analysis, etc.
  • the system is based on the development of a process that is carried out through software, through which a series of steps are performed, obtaining and storing data, which are subsequently analyzed and treated in order to obtain models of input and output that can be subsequently used for any of the functions indicated above.
  • Wind-related Wind speed, at any height from the ground or at any distance from the wind turbine, whether measured or inferred.
  • Generator torque real or demanded, torque in the generator air gap
  • generator power real or demanded
  • active power real or demanded
  • reactive power real or demanded
  • currents and voltages of each of the lines of the three-phase system real or demanded, voltages and currents dyq, real or demanded, of the generator control system, etc.
  • Pitch angle real or demanded
  • pitch speed real or demanded
  • pitch acceleration real or demanded
  • powers voltages and currents
  • Yaw angle real or demanded
  • yaw speed real or demanded
  • yaw acceleration real or demanded
  • powers voltages and currents, real or demanded of the yaw motor.
  • Pressures flows, positions, speeds and accelerations of the actuator, in case of being hydraulic, etc.
  • Speed of the generator speed of the rotor on the high side, speed of the rotor on the low side, real and demanded active power to the generator, real and demanded reactive power to the generator, actual and demanded currents and voltages of each of the lines of the three-phase system, actual and demanded voltages and currents dyq of the generator control system, deformations, positions, speeds, accelerations, linear and angular, forces and moments in the bushing, along the power train, along each of the blades, along the tower, along the nacelle, etc.
  • the process includes an experimentation protocol, data collection, identification routines, and obtaining linear models for the desired application.
  • the experimentation protocol is developed during the normal operation of the wind turbine, with the control of the same asset.
  • This control consists in the introduction of a reference signal as the desired value for the variable to be controlled.
  • the signal to be controlled, the output is fed back to compare it with the reference signal.
  • This difference called error, feeds the controller that will be responsible for applying a signal that will cause the output signal to approximate its reference value by means of the actuator, thus trying to reject external and uncontrollable disturbances to the system such as bursts of wind etc.
  • the closed loop experimentation protocol for the identification of wind turbines is carried out by introducing a signal that can be added to the reference signal of the control loop or can be added to the value that the controller have calculated. Data collection and storage should be done by software, and then analyzed using identification routines.
  • the identification routines must consist of a copy of the controller and an adjustable model of the closed loop input / output model, of any combination of the input and output variables mentioned above.
  • the corresponding output of the real wind turbine is compared with the closed loop output predicted by the identification algorithm.
  • the error is processed by another algorithm, which will vary the values of the parameters in the appropriate way, in order to minimize the difference between the actual measurement of the wind turbine output variable and the output variable predicted by the identification algorithm.
  • the model Once the model is obtained, it can be validated by statistical, frequency and temporal methods. If these validation conditions are met, the models are given as correct and can then be used for all the exposed activities.
  • Figure 1 shows a block diagram of the development process of the system of the invention.
  • Figure 2 is a diagram of the application of the excitation signal in the system experimentation protocol, according to an embodiment.
  • Figure 3 is a diagram of the application of the excitation signal in the experimentation protocol, according to another embodiment.
  • the object of the invention relates to a closed loop wind turbine identification system, which aims to obtain linear models that accurately represent the dynamic behavior of the application wind turbine, to design the algorithms that govern the behavior of the wind turbine in the actual operation of it.
  • the system consists of the realization of a process of generation, storage and analysis of data, by means of a sequence like the one represented in figure 1, which includes an experimentation protocol (1), a data collection (2), routines of identification (3), the obtaining (4) of linear input-output models, and the application (5) of the linear models identified for the design and implementation of wind turbine controllers.
  • experimentation protocol (1) is developed as follows:
  • Said excitation signal (9) must have a high frequency content, particularly between 0 and 1000 Hz, as well as a determined and limited length depending on the application wind turbine ( ⁇ ), which excitation signal (9) can be applied at the input of the reference signal (7), as shown in figure 2, or in an intermediate part with respect to one or more of the actuators that govern the behavior of the wind turbine (6), as shown in figure 3.
  • the experiment can be repeated as many times as desired, and the procedure can be applied to all control loops that are active in the wind turbine or simulator (6), with the possibility of measuring all the appropriate variables for Get the models you want.
  • the identification routines (3) of the process are developed by submitting the data obtained to conventional parameter identification algorithms, so that these identification routines (3) are intended to find the relationship between temporary collections of data, the results being in these identification routines (3), linear empirical models are obtained.
  • the result of applying the experimentation protocol (1), as well as the data collection (2) and their subsequent treatment with the identification routines (3), are linear models that They describe the behavior of the system, so that once (4) these models are obtained, they can be applied (5) for activities such as: component design, start-up of wind turbines, certification, adaptive control, predictive control, maintenance of control, control tuning, dynamic operation monitoring, etc.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Combustion & Propulsion (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Wind Motors (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

L'invention se rapporte à l'identification d'éoliennes en boucle fermée, qui s'effectue au moyen d'un processus comprenant un protocole d'expérimentation (1), une collecte de données (2), des routines d'identification (3), l'obtention (4) de modèles linéaires entrée-sortie et l'application (5) des modèles linéaires aux fonctions à contrôler. Le protocole d'expérimentation (1) s'applique sur l'éolienne en fonctionnement normal et introduit un signal de référence avec l'algorithme de la fonction à contrôler avec rétroalimentation de la sortie de la fonction vers l'entrée, tout en appliquant un signal d'excitation avec l'algorithme de contrôle.
PCT/ES2007/000584 2006-10-17 2007-10-17 Identification d'éoliennes en boucle fermée WO2008046942A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESP200602630 2006-10-17
ES200602630A ES2299375B1 (es) 2006-10-17 2006-10-17 Sistema para la estimacion del comportamiento de un aerogenerador que opera en lazo cerrado.

Publications (1)

Publication Number Publication Date
WO2008046942A1 true WO2008046942A1 (fr) 2008-04-24

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ES (1) ES2299375B1 (fr)
WO (1) WO2008046942A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2353089A1 (es) * 2008-11-28 2011-02-25 Fundacion Cener-Ciemat Sistema para la estimación en lazo cerrado de modelos lineales entrada salida de un aerogenerador.
EP2292928A2 (fr) 2009-09-03 2011-03-09 Gamesa Innovation & Technology, S.L. Procédés de contrôle d'éolienne et systèmes
EP2336558A2 (fr) 2009-12-16 2011-06-22 Gamesa Innovation & Technology, S.L. Procédé d'opération d'une éolienne à vitesse variable
CN104612904A (zh) * 2014-12-08 2015-05-13 上海电气集团股份有限公司 一种双馈型风力发电机组最大风能捕获方法
EP3073109A1 (fr) * 2015-03-23 2016-09-28 ALSTOM Renewable Technologies Obtention des propriétés dynamiques d'un composant d'éolienne

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110244557B (zh) * 2019-04-30 2022-03-15 国网浙江省电力有限公司电力科学研究院 一种工业过程多阶惯性闭环系统的闭环建模方法

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Title
DE BRUYNE F. ET AL.: "One closed-loop identification with a tailor-made parametrization", PROCEEDINGS OF THE AMERICA CONTROL CONFERENCE, PHILADELPHIA, PENNSYLVANIA, vol. 5, June 1998 (1998-06-01), pages 3177 - 3181 *
FORSSELL U.: "Closed-loop Identification Methods, Theory, and Applications", LINKÖPING STUDIES IN SCIENCE AND TECHNOLOGY. DISSERATIONS. NO. 566. DEPARTMENT OF ELECTRICAL ENGINEERING LINKÖPING UNIVERSITY, SE-581 83 LINKÖPING, SWEDEN, pages 5 - 11, 17 - 19, 24 - 26, 41 - 42, 49 - 68, Retrieved from the Internet <URL:http://www.control.isy.liu.se/research/authors/phd/566/main.pdf> *
VAN BAARS G. AND BONGERS P.: "Closed Loop System Identification of an Industrial Wind Turbine System: Experiment Design and First Validation Results", PROCEEDINGS OF THE 33RD CONFERENCE ON DECISION AND CONTROL, LAKE BUENA VISTA. FLORIDA *
VODA A. AND LANDAU I.D.: "Real-time evaluation of an iterative scheme for closed loop identification and control design", PROCEEDINGS OF THE AMERICAN CONTROL CONFERENCE, BALTIMORE, MARYLAND, vol. 3, July 1994 (1994-07-01), pages 3007 - 3011, XP010303968 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2353089A1 (es) * 2008-11-28 2011-02-25 Fundacion Cener-Ciemat Sistema para la estimación en lazo cerrado de modelos lineales entrada salida de un aerogenerador.
EP2292928A2 (fr) 2009-09-03 2011-03-09 Gamesa Innovation & Technology, S.L. Procédés de contrôle d'éolienne et systèmes
EP2336558A2 (fr) 2009-12-16 2011-06-22 Gamesa Innovation & Technology, S.L. Procédé d'opération d'une éolienne à vitesse variable
US20110215577A1 (en) * 2009-12-16 2011-09-08 Gamesa Innovation & Technology, S.L. Wind turbine control methods for improving the production of energy recovering energy losses
US9018780B2 (en) 2009-12-16 2015-04-28 Gamesa Innovation & Technology, S.L. Control system and method to improve the electrical energy production of a variable speed wind turbine by alternative regulation
CN104612904A (zh) * 2014-12-08 2015-05-13 上海电气集团股份有限公司 一种双馈型风力发电机组最大风能捕获方法
EP3073109A1 (fr) * 2015-03-23 2016-09-28 ALSTOM Renewable Technologies Obtention des propriétés dynamiques d'un composant d'éolienne

Also Published As

Publication number Publication date
ES2299375A1 (es) 2008-05-16
ES2299375B1 (es) 2009-03-01

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