WO2023092783A1 - Procédé de commande de hauteur variable adaptative floue de ventilateur capable de supprimer de multiples facteurs de perturbation - Google Patents

Procédé de commande de hauteur variable adaptative floue de ventilateur capable de supprimer de multiples facteurs de perturbation Download PDF

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Publication number
WO2023092783A1
WO2023092783A1 PCT/CN2021/140650 CN2021140650W WO2023092783A1 WO 2023092783 A1 WO2023092783 A1 WO 2023092783A1 CN 2021140650 W CN2021140650 W CN 2021140650W WO 2023092783 A1 WO2023092783 A1 WO 2023092783A1
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Prior art keywords
fuzzy
wind turbine
transfer function
pitch control
adaptive
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PCT/CN2021/140650
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English (en)
Chinese (zh)
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邵宜祥
刘剑
胡丽萍
过亮
方渊
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南瑞集团有限公司
国网湖北省电力有限公司
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Publication of WO2023092783A1 publication Critical patent/WO2023092783A1/fr

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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 
    • 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
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • 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
    • F03D7/044—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with PID control
    • 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
    • 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
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

Definitions

  • the invention relates to the technical field of pitch control of wind turbines, in particular to a fuzzy self-adaptive pitch control method for wind turbines capable of suppressing multiple disturbance factors.
  • the pitch control strategy of traditional wind turbines only considers a single wind speed disturbance, and does not comprehensively consider the initial parameter errors caused by installation and manufacturing, and environmental changes during the operation of wind turbines (such as Turbulent wind speed, snow accumulation, frost accumulation, etc.) and wind turbine blade changes (such as blade bending, deformation, etc.) Balance, causing blade flapping vibrations and torque fluctuations.
  • the purpose of the present invention is to propose a fan fuzzy adaptive pitch control method that can suppress multiple disturbance factors, establish a closed-loop transfer function of the wind turbine pitch control system that takes into account multiple disturbance factors, and design a fuzzy adaptive PID algorithm based on
  • the advanced wind turbine pitch control method realizes adaptive and rapid response to disturbances caused by various factors, ensures that the pitch angle of wind turbines is properly adjusted, maintains system stability, and achieves optimal capture of wind energy.
  • the invention provides a fan fuzzy self-adaptive pitch control method capable of suppressing multiple disturbance factors, including:
  • fuzzy adaptive PID control parameters based on the closed-loop transfer function and fuzzy rules
  • the fuzzy adaptive PID control is used to adjust the pitch control system of the wind turbine considering multiple disturbance factors, and output the pitch angle of the wind turbine.
  • the disturbance factors include the blade change disturbance during the operation of the wind turbine, the initial parameter error disturbance of the wind turbine installation and the environment change disturbance during the operation of the wind turbine;
  • k 1 and k 2 are disturbance coefficients
  • k 3 , k 4 , k 5 are disturbance coefficients
  • D(s) D 1 (s)+D 2 (s)+D 3 (s)
  • K P , K I , K D are the adaptive parameters of the PID controller
  • G ⁇ is the transfer function of the pitch controller
  • G c is the transfer function of the pitch actuator
  • T ⁇ is the time constant
  • G p is the transfer function of the wind turbine
  • J is the moment of inertia
  • ⁇ V(s) V(s)-V 0 (s)
  • ⁇ (s) ⁇ (s)- ⁇ 0 (s)
  • V 0 is the initial wind speed
  • ⁇ (s) is the pitch angle
  • ⁇ 0 is the pitch angle at the working point of the wind turbine
  • ⁇ , ⁇ and ⁇ are all linear coefficients.
  • determining fuzzy adaptive PID control parameters based on the closed-loop transfer function and fuzzy rules includes:
  • the initial value of the parameters of the fuzzy adaptive PID control is adjusted
  • the fuzzy adaptive PI control parameters are obtained by combining the adjustment amount of the fuzzy adaptive PID controller parameters with the initial value of the parameters.
  • the reduced-order closed-loop transfer function is:
  • ⁇ (s) is the reduced-order closed-loop transfer function
  • ⁇ is the damping ratio
  • ⁇ n is the natural frequency
  • ⁇ and ⁇ n are obtained from the dominant poles
  • the dominant pole is determined as follows:
  • the determination of the adjustment amount of fuzzy adaptive PID control parameters based on fuzzy rules includes:
  • Fuzzify the input quantity and use the Mamdani fuzzy reasoning method to obtain fuzzy subsets according to the preset fuzzy rules;
  • the output of the fuzzy controller is obtained by defuzzifying the fuzzy subset as the adjustment values ⁇ K P , ⁇ K I , ⁇ K D of the adaptive parameters of the PID controller.
  • the fuzzy controller adopts a two-dimensional fuzzy controller.
  • the fuzzy controller adopts a triangular membership function.
  • the output of the fuzzy controller is obtained by defuzzifying the fuzzy subsets using the center of gravity method.
  • the invention considers various disturbance factors in the control process of the wind turbine, establishes the closed-loop transfer function of the pitch control system of the wind turbine considering multi-factor disturbance, determines the fuzzy control rules, and realizes the self-adaptive and fast response to the disturbance caused by various factors, ensuring The pitch angle of the wind turbine is properly adjusted to maintain system stability and achieve optimal capture of wind energy.
  • the present invention applies the fuzzy control to the pitch control system.
  • the fuzzy control has robustness and strong self-adaptive ability, and can realize good control effect without establishing an accurate system dynamic model.
  • Fig. 1 is a schematic diagram of a fan fuzzy adaptive pitch control method capable of suppressing multiple disturbance factors of the present invention
  • Fig. 2 is a fuzzy control rule table preset in the present invention.
  • the present invention designs a wind turbine pitch control strategy based on the fuzzy self-adaptive PID algorithm by establishing a wind turbine pitch control system closed-loop transfer function that takes into account multi-factor disturbances, and realizes Adaptive and fast response to disturbances caused by various factors to ensure that the pitch angle of wind turbines is properly adjusted, maintain system stability, and achieve optimal capture of wind energy.
  • a fan fuzzy adaptive pitch control method capable of suppressing multiple disturbance factors, comprising:
  • the disturbance factors include blade change disturbances during wind turbine operation, wind turbine installation initial parameter error disturbances, and wind turbine environment change disturbances during operation;
  • the wind turbine pitch control system considering multiple disturbance factors is adjusted, and the pitch angle of the wind turbine is output.
  • Blade variation factors include blade bending, deformation, etc., and the disturbance can be approximately expressed by the transfer function D 1 (s) as:
  • k 1 and k 2 are the disturbance coefficients, and their values are taken according to the errors of wind turbine installation and manufacture, which are known quantities, and V(s) is the external wind speed.
  • the environmental changes during the operation of the wind turbine include turbulent wind speed, snow accumulation, frost accumulation, etc.
  • the disturbance can be expressed approximately by the transfer function D 3 (s) as:
  • k 3 , k 4 , k 5 are the disturbance coefficients, and their values are taken according to the changes of the operating environment, which are known quantities; V(s) is the external wind speed.
  • D(s) D 1 (s)+D 2 (s)+D 3 (s)
  • K P , K I , K D are the adaptive parameters of the PID controller
  • G ⁇ , G c , G p are the transfer functions of each part of the fan system
  • G ⁇ is the transfer function of the pitch controller
  • G c is the variable paddle actuator transfer function
  • T ⁇ is the time constant
  • the unit is s
  • G p is the transfer function of the wind turbine
  • J is the moment of inertia
  • ⁇ V(s) V(s)-V 0 (s)
  • ⁇ (s) ⁇ (s)- ⁇ 0 (s)
  • V 0 is the initial wind speed
  • ⁇ (s) is the pitch angle
  • ⁇ 0 is the pitch angle at the working point of the wind turbine
  • ⁇ , ⁇ and ⁇ are all linear coefficients.
  • p i is the quantity with respect to K P , K I , K D .
  • the second-order system obtained after order reduction has the following expression:
  • ⁇ is the damping ratio
  • ⁇ n is the natural frequency
  • ⁇ and ⁇ n need to be obtained from the dominant poles, so ⁇ and ⁇ n are quantities related to K P , KI , and K D .
  • the fuzzy controller is used to determine the adjustment amount of the PID controller parameter based on the fuzzy rules, and the adjustment amount of the PID controller parameter output by the fuzzy controller and the adjusted initial parameter of the PID controller Combined to obtain the adaptive parameters K P , KI , K D of the PI controller.
  • the fuzzy controller adopts a two-dimensional fuzzy controller, and the difference e between the theoretical value ⁇ ref and the actual value of the wind turbine speed and its error variation ec are used as the input of the fuzzy controller, and ⁇ ref is the wind turbine
  • the speed given value is generally set as the rated value of the fan speed, and then the input quantity is fuzzified, and then the fuzzy subset is obtained by using Mamdani fuzzy inference method according to the corresponding fuzzy rules. See Figure 2 for the fuzzy control rules, and finally the fuzzy subset is solved Fuzzy obtains the output of the fuzzy controller, which is the adjustment of the parameters of the PID controller ⁇ K P , ⁇ K I , ⁇ K D .
  • the fuzzy controller adopts the triangular membership function, and determines the fuzzy control rules according to the adjustment requirements of the fan.
  • the input quantity of the fuzzy controller is converted into the corresponding fuzzy language variable value to realize fuzzification.
  • the output of the fuzzy controller is obtained by defuzzifying the fuzzy subset using the center of gravity method.
  • the adaptive parameters K P , K I , and K D of the PI controller can be obtained by integrating the output of the fuzzy controller and the initial parameters of the PID controller.
  • the calculation formula is as follows:
  • K P K P0 + ⁇ K P
  • K I K I0 + ⁇ K I
  • K D K D0 + ⁇ K D
  • ⁇ ref and ⁇ ref are the given value of the speed of the wind turbine and the given value of the pitch angle respectively.
  • the PID controller Based on the adaptive parameters K P , K I , K D of the PID controller, the PID controller is used to adjust the pitch control system of the wind turbine considering multiple disturbance factors, and the pitch angle of the wind turbine is output.
  • the wind turbine variable pitch control method proposed in the present invention comprehensively considers various disturbance factors in the control process of the wind turbine, and realizes the self-adaptive and rapid response to the disturbance caused by various factors, ensures that the pitch angle of the wind turbine is properly adjusted, and maintains system stability , to achieve optimal capture of wind energy.
  • the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Feedback Control In General (AREA)

Abstract

L'invention concerne un procédé de commande de pas variable adaptative floue de ventilateur capable de supprimer de multiples facteurs de perturbation. Le procédé considère de manière complète de multiples facteurs de perturbation communs dans le fonctionnement réel d'un générateur éolien, et les facteurs comprennent des erreurs de paramètre initiales pendant le montage et la fabrication du générateur éolien, des changements environnementaux pendant le fonctionnement du générateur éolien, des changements de pale du générateur éolien, etc ; une fonction de transfert en boucle fermée d'un système de commande de pas variable de générateur éolien tenant compte d'une perturbation à facteurs multiples est établie ; le système de commande de pas variable de générateur éolien tenant compte de multiples facteurs de perturbation est ajusté sur la base d'une commande PID adaptative floue ; et l'angle de pas du générateur éolien est délivré. Une réponse rapide adaptative à une perturbation provoquée par de multiples facteurs est obtenue, il est garanti que l'angle de pas du générateur éolien est correctement ajusté, la stabilité du système est maintenue, et une capture optimale de l'énergie éolienne est obtenue.
PCT/CN2021/140650 2021-11-23 2021-12-23 Procédé de commande de hauteur variable adaptative floue de ventilateur capable de supprimer de multiples facteurs de perturbation WO2023092783A1 (fr)

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CN202111396063.X 2021-11-23

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CN118008695A (zh) * 2024-04-08 2024-05-10 昆明理工大学 高原山地风电机组参与电网调频的先进模糊变桨控制方法

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CN118008695A (zh) * 2024-04-08 2024-05-10 昆明理工大学 高原山地风电机组参与电网调频的先进模糊变桨控制方法

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