CN102102630A - Method for controlling independent variable propeller of variable speed variable propeller wind generating set - Google Patents

Abstract

The invention discloses a method for controlling an independent variable propeller of a variable speed variable propeller wind generating set. The method comprises: a synergetic variable propeller control process: detecting the power Pg output by a generator, substracting the reference power Ptate from the power Pg, so as to obtain a power deviation delta P, and acquiring a synergetic pitch angle beta c of the synergetic variable propeller control expectation output by virtue of a PI (proportion integration) controller; and a deviation variable propeller control process: 1) detecting the y-direction loads (My1, My2, My3) and z-direction loads (Mz1, Mz2, Mz3) of three propeller blade roots and an impeller azimuth angle theta, and converting the y-direction loads and the z-direction loads respectively through a Park into sharing parts of the loads (Md, Mq, Mtilt, Myaw); 2) outputting a pitch angle through the PI controller; 3) restricting the pitch angle through a variable propeller speed rate, and outputting a pitch angle (beta d, beta q); and 4) transforming the pitch angle (beta d, beta q, beta tilt, beta yaw) inversely through the Park, so that a deviation pit angle and a wind wheel rotor imbalance pitch angle are obtained, and adding repeatedly to obtain the pitch angle expected to be output by three blades. According to the invention, fatigue loading of the generating set can be reduced effectively.

Description

Speed-changing oar-changing wind power generating set independent pitch control method

Technical field

The present invention relates to a kind of controlling method of generator set, relate in particular to a kind of independent pitch control method that can effectively reduce unit component fatigue load.

Background technique

For three blade wind power generating set, owing to have vertical velocity gradient and horizontal wind speed gradient, cause wind speed uneven distribution on the wind wheel swept surface, the triangle of velocity vectors on each blade is with unequal; Wind wheel suffered aerodynamic center in rotary course is under the upset condition, thereby causes alternate load to wind wheel.Maximization along with unit, the length of blade increase has further aggravated this alternate load, because there is mass eccentricity during fabrication inevitably in wind wheel, the alternate load that wind wheel barycenter and center of rotation produce not on same point, change constantly owing to wind speed simultaneously, turbulent flow, fitful wind etc. all produce excitation force to wind wheel, and these all are the main sources that causes the wind energy conversion system fatigue load.Use independent feathering control system and controlling method and can reduce the fatigue load problem that causes because of each blade unbalance stress.Independent pitch has become one of focus of current Large-scale Wind Turbines control technique research apart from control.

Chinese patent publication number CN101592127A discloses " a kind of independent pitch control method for large wind turbine ", and Chinese patent publication number CN101476541A disclosed " independent feathering control system and the controlling method that are used for wind power generating set ".Above-mentioned patent all adopts the generator speed deviation to generate collaborative oar pitch angle and the measurement propeller shank load (M of becoming _Y1, M _Y2, M _Y3) mode generate deviation and become the oar pitch angle.More than two methods all increased change oar speed, simultaneously also have following deficiency: 1) this will increase the fatigue load of pitch variable bearings, therefore, can reduce the life-span of pitch variable bearings; 2) become oar speed and accelerate the speed of response of motor is required to improve, and this motor is expensive, therefore increase the independent pitch cost; 3) the above two methods alternate load that causes because of the mass eccentricity problem of not considering that wind wheel exists when manufacture process.

The patent of invention content

In order to overcome the deficiency that exists in the existing wind generating set pitch control controlling method, the invention provides a kind of by measuring unbalanced load, avoid occurring bigger fatigue load, reduce the speed-changing oar-changing wind power generating set independent pitch control method of independent pitch cost.This controlling method can be avoided producing alternate load because of mass eccentricity when manufacture process.

The technical solution adopted in the present invention is:

A kind of speed-changing oar-changing wind power generating set independent pitch control method comprises the collaborative oar control procedure that becomes, and described collaborative change oar control procedure is the output power P that detects generator _g, with reference rated power P _RateSubtract each other and draw power deviation Δ P, draw the collaborative collaborative pitch angle β that becomes the oar desired output according to following Laplce's relation _c,

Wherein: K _pBe the scaling factor of PI controller, K _iBe PI controller integral coefficient, F _kBe PI controller gain coefficient, it is characterized in that: described independent pitch control method comprises that also deviation becomes the oar control procedure, and described deviation becomes the oar control procedure and comprises:

1), detects the y direction load (M of three blade sheet roots _Y1, M _Y2, M _Y3), z direction load (M _Z1, M _Z2, M _Z3) and the impeller azimuth angle theta, and pass to master controller together; Master controller is with the y direction load (M of three blade sheet roots _Y1, M _Y2, M _Y3) through the Park conversion, be transformed to the sharing part of the load M that tumbles _dWith driftage sharing part of the load M _qWith z direction load (M _Z1, M _Z2, M _Z3) through the Park conversion, be transformed to the sharing part of the load M that tumbles _TiltWith driftage sharing part of the load M _Yaw;

2), the sharing part of the load M that will tumble _dWith driftage sharing part of the load M _qBring following Laplce's relation respectively into:

$\frac{{\mathrm{\β}}_d^{\mathrm{unlim}}}{M_d}=K_{\mathrm{pd}}+\frac{K_{\mathrm{id}}}{s}$

$\frac{{\mathrm{\β}}_q^{\mathrm{unlim}}}{M_q}=K_{\mathrm{pq}}+\frac{K_{\mathrm{iq}}}{s}$

Draw the pitch angle of d axle and q axle output

The sharing part of the load of will tumbling M _TiltWith driftage sharing part of the load M _YawBring following Laplce's relation respectively into:

$\frac{{\mathrm{\β}}_{\mathrm{tilt}}}{M_{\mathrm{tilt}}}=K_{\mathrm{py}}+\frac{K_{\mathrm{iy}}}{s}$

$\frac{{\mathrm{\β}}_{\mathrm{yaw}}}{M_{\mathrm{yaw}}}=K_{\mathrm{pz}}+\frac{K_{\mathrm{iz}}}{s}$

Draw the pitch angle (β that exports on y axle and the z axle _Tilt, β _Yaw); In the following formula: K _Pd, K _Pq, K _Py, K _PzBe the scaling factor of PI controller, K _Id, K _Iq, K _Iy, K _IzIntegral coefficient for the PI controller;

3), the pitch angle of described d axle and q axle output

Through becoming the oar rate limit, it is as follows to become oar rate limit inequality:

$\left\{\begin{array}{c}\left|{\mathrm{\β}}_j\left(k\right)\right|\≤\min \{{\mathrm{\α}}_j{\mathrm{\β}}^{\mathrm{rest}},{\mathrm{\γ}}_{\mathrm{pos}}{\stackrel{\·}{\mathrm{\β}}}^{\mathrm{rest}}\}\\ |{\mathrm{\β}}_j\left(k\right)-{\mathrm{\β}}_j(k-1)|\≤T_s{\mathrm{\γ}}_{\mathrm{spd}}{\stackrel{\·}{\mathrm{\β}}}^{\mathrm{rest}}\end{array}\right.j=d,q;$

In the following formula: Ω is the wind wheel angular velocity of rotation;

β _MaxFor becoming the oar position upper limit; β _MinFor becoming oar position lower limit;

For becoming the oar rate-limit;

For becoming oar speed lower limit; T _sBe the sampling time of PI controller;

Draw the expectation pitch angle (β of d axle and the output of q axle change oar rate limit through following formula _d, β _q), expectation pitch angle (β _d, β _q) through the Park inverse transformation, must deviate becomes the deviation pitch angle of oar control desired output

Expectation pitch angle (the β of y axle and the output of z axle _Tilt, β _Yaw) through the Park inverse transformation, draw the uneven pitch angle of wind wheeling rotor that becomes oar control desired output

4), according to the collaborative collaborative pitch angle β that becomes oar control desired output _c, deviation becomes the deviation pitch angle of oar control desired output

With the uneven pitch angle of wind wheeling rotor that becomes oar control desired output

Draw the pitch angle of independent feathering control desired output

5), with the pitch angle of independent feathering control desired output

Control each respectively and become oar actuating motor action realization change oar.

As preferred a kind of scheme: the y direction load (M of described three blade sheet roots _Y1, M _Y2, M _Y3), z direction load (M _Z1, M _Z2, M _Z3) before the Park conversion, pass through low-pass filter by following Laplce's relation:

With pass through trapper by following Laplce's relation:

Wherein: i=1,2,3; M _YiAnd M _YifBe respectively before the filtering and filtering after the root load of i blade; w ₁Natural frequency for low-pass filter; η ₁Inherent damping for low-pass filter; w ₂And w ₃Natural frequency for resistance-trap filter; η ₁And η ₂Inherent damping for trapper.

Further, described generated output power P _gCarry out filtering by following Laplce's relation: Wherein: P _gBe filtered generated output power; w ₄Natural frequency for low-pass filter; η ₄Damping ratio for low-pass filter; w ₅And w ₆Natural frequency for trapper; η ₅And η ₆Damping ratio for trapper.

Technical conceive of the present invention is: the independent feathering control of employing is made up of control of collaborative change oar and the control of deviation change oar, and promptly the output quantity of independent feathering control (pitch angles of three blade desired outputs) is obtained by the output quantity (the deviation parts of three blade desired output pitch angles) that collaborative change oar control output quantity (same sections of three blade desired output pitch angles) adds the control of upper deviation change oar.And to control of collaborative change oar and deviation change oar control carrying out decoupling zero, the traditional change oar function of collaborative change oar control realization, and the PI controller is finished the control of the wind-powered electricity generation power of the assembling unit; And Deviation Control is used to reduce the unbalanced load on the impeller.

The technical conceive that deviation becomes oar control into: at first utilize Park conversion commonly used, with the y direction load (M of three blade sheet roots _Y1, M _Y2, M _Y3) transform in the wheel hub fixed coordinate system on the d-q axle, obtain the sharing part of the load of the d axle sharing part of the load and q axle, simultaneously also the z direction load (M of three blade sheet roots _Z1, M _Z2, M _Z3) transform in the wheel hub fixed coordinate system on the y-z axle, obtain the y axle sharing part of the load and the z axle sharing part of the load.Respectively d axle, q axle, y axle, the z axle sharing part of the load are carried out PI control, obtain the pitch angle of exporting on d axle and the q axle And through becoming the expectation pitch angle (β that the oar rate limit obtains exporting _d, β _q).Expectation pitch angle (the β that exports on y axle and the z axle _Tilt, β _Yaw), expectation pitch angle (β _d, β _q) and y axle and z axle on the expectation pitch angle β that exports _Tilt, β _Yaw) inverse transformation obtains the deviation pitch angle through Park respectively

With the uneven pitch angle of wind wheeling rotor

To reduce the unbalanced load of blade.Add low-pass filter and trapper in Deviation Control, low-pass filter is used to reduce High-frequency Interference, and trapper is used for filter 23 P harmonic component.

Compared with prior art, the independent pitch control method of wind power generating set of the present invention has following advantage:

1, adopts change oar speed limiting device effectively to reduce and become oar speed, increased the life-span of pitch variable bearings like this, reduced motor cost.

2, in the control of d-q axle, add the fatigue load that the 1p frequency filter reduces set engine room, driftage bearing.

3, consider that there is the alternate load that causes because of the mass eccentricity problem during fabrication inevitably in wind wheel.

4, the instantaneous collection signal of power sensor and air velocity transducer is transferred to control box this electricity generating device is become oar control, has guaranteed that effectively the utilization efficiency of this vane change device has been guaranteed investment repayment.

Description of drawings

The rotating coordinate system of Fig. 1 (a) blade loading;

Fig. 1 (b) wheel hub fixed coordinate system;

Fig. 2 is the theory diagram of the independent pitch control method of wind power generating set;

Fig. 3 is the collaborative flow chart that becomes oar control;

Fig. 4 becomes the flow chart of oar control for deviation;

Wherein: P _RateRated power for generator; P _gFor detecting the output power of generator; Δ P is a power deviation; θ is the impeller azimythal angle; β _cBe collaborative pitch angle; T _gFor exporting to the controlling torque of generator; V is a wind velocity signal; M _Y1, M _Y2, M _Y3Be the y direction load of three blade sheet roots; M _Z1, M _Z2, M _Z3Be the z direction load of three blade sheet roots; M _dBe the sharing part of the load of tumbling on d axle and the q axle; M _qBe the driftage sharing part of the load on d axle and the q axle; M _TiltBe the sharing part of the load of tumbling on y axle and the z axle; M _YawBe the driftage sharing part of the load on y axle and the z axle;

Pitch angle for d axle and the output of q axle; β _d, β _qFor becoming the expectation pitch angle of oar rate limit output; β _Tilt, β _YawExpectation pitch angle for y axle and the output of z axle; w ₁, w ₄Natural frequency for low-pass filter; η ₄Damping ratio for low-pass filter; w ₅, w ₆Natural frequency for trapper; η ₅, η ₆Damping ratio for trapper.

Embodiment

Below in conjunction with the drawings and specific embodiments the present invention is done to describe in further detail.

Referring to figs. 1 to Fig. 4, speed-changing oar-changing wind power generating set independent pitch control method comprises the collaborative oar control procedure that becomes, described collaborative change oar control procedure into: detect the output power Pg of generator, with reference rated power P _RateSubtract each other and draw power deviation Δ P, draw the collaborative collaborative pitch angle that becomes oar control desired output according to following Laplce's relation Wherein: K _pBe the scaling factor of PI controller, K _iBe the integral coefficient of PI controller, F _kBe the gain coefficient of PI controller, described independent pitch control method comprises that also deviation becomes the oar control procedure, and described deviation becomes the oar control procedure and comprises:

1), detects the y direction load (M of three blade sheet roots _Y1, M _Y2, M _Y3), the z direction load (M of three blade sheet roots _Z1, M _Z2, M _Z3) and the impeller azimuth angle theta, and pass to master controller together, master controller is with the y direction load (M of three blade sheet roots _Y1, M _Y2, M _Y3) through the Park conversion, be transformed to the sharing part of the load M that tumbles _dWith driftage sharing part of the load M _qZ direction load (M with three blade sheet roots _Z1, M _Z2, M _Z3) through the Park conversion, be transformed to the sharing part of the load M that tumbles _TiltWith driftage sharing part of the load M _Yaw

2), the sharing part of the load M that will tumble _dWith driftage sharing part of the load M _qBring following Laplce's relation respectively into:

$\frac{{\mathrm{\β}}_d^{\mathrm{unlim}}}{M_d}=K_{\mathrm{pd}}+\frac{K_{\mathrm{id}}}{s}$

$\frac{{\mathrm{\β}}_q^{\mathrm{unlim}}}{M_q}=K_{\mathrm{pq}}+\frac{K_{\mathrm{iq}}}{s}$

Draw the pitch angle of d axle and q axle output

The sharing part of the load of will tumbling M _TiltWith driftage sharing part of the load M _YawBring following Laplce's relation respectively into:

$\frac{{\mathrm{\β}}_{\mathrm{tilt}}}{M_{\mathrm{tilt}}}=K_{\mathrm{py}}+\frac{K_{\mathrm{iy}}}{s}$

$\frac{{\mathrm{\β}}_{\mathrm{yaw}}}{M_{\mathrm{yaw}}}=K_{\mathrm{pz}}+\frac{K_{\mathrm{iz}}}{s}$

Draw the pitch angle (β that exports on y axle and the z axle _Tilt, β _Yaw); In the following formula: K _Pd, K _Pq, K _Py, K _PzBe the scaling factor of PI controller, K _Id, K _Iq, K _Iy, K _IzIntegral coefficient for the PI controller;

3), the pitch angle of described d axle and q axle output

Through becoming the oar rate limit, it is as follows to become oar rate limit inequality:

$\left\{\begin{array}{c}\left|{\mathrm{\β}}_j\left(k\right)\right|\≤\min \{{\mathrm{\α}}_j{\mathrm{\β}}^{\mathrm{rest}},{\mathrm{\γ}}_{\mathrm{pos}}{\stackrel{\·}{\mathrm{\β}}}^{\mathrm{rest}}\}\\ |{\mathrm{\β}}_j\left(k\right)-{\mathrm{\β}}_j(k-1)|\≤T_s{\mathrm{\γ}}_{\mathrm{spd}}{\stackrel{\·}{\mathrm{\β}}}^{\mathrm{rest}}\end{array}\right.j=d,q;$

In the following formula:

Ω is the wind wheel angular velocity of rotation;

β _MaxFor becoming the oar position upper limit; β _MinFor becoming oar position lower limit;

For becoming the oar rate-limit;

For becoming oar speed lower limit; T _sBe the sampling time of PI controller;

Draw the expectation pitch angle (β of d axle and the output of q axle change oar rate limit through following formula _d, β _q), expectation pitch angle (β _d, β _q) through the Park inverse transformation, must deviate becomes the deviation pitch angle of oar control desired output Expectation pitch angle (the β of y axle and the output of z axle _Tilt, β _Yaw) through the Park inverse transformation, draw the uneven pitch angle of wind wheeling rotor that becomes oar control desired output

4), according to the collaborative collaborative pitch angle β that becomes oar control desired output _c, deviation becomes the deviation pitch angle of oar control desired output With the uneven pitch angle of wind wheeling rotor that becomes oar control desired output

Draw the pitch angle of independent feathering control desired output

5), with the pitch angle of independent feathering control desired output

Control each respectively and become oar actuating motor action realization change oar.

Referring to Fig. 2, independent feathering control is divided into collaborative become oar control and the control of deviation change oar.The control of collaborative change oar utilizes the PI controller to finish the control of impeller power.Deviation becomes oar control and is used to reduce unbalanced load between impeller and wind wheel barycenter and center of rotation not on same point and the alternate load of generation.The pitch angle of independent feathering control desired output adds the deviation pitch angle that the upper deviation becomes oar control desired output for the collaborative collaborative pitch angle that becomes the oar desired output.

The collaborative flow chart that becomes oar control is as shown in Figure 3: be contained in the output power P that power sensor on the generator detects generator _g, through low-pass filter and trapper, with reference power P _RateSubtract each other and draw power deviation Δ P,, draw the collaborative collaborative pitch angle β that becomes oar control desired output through PI control _cConsider the non-linear of pitch-controlled system, the gain F in the PI controller _kThe mode that employing is tabled look-up is obtained.

The flow chart that deviation becomes oar control is as shown in Figure 4: the load transducer that is contained in propeller shank detects the y direction load (M of three blade sheet roots _Y1, M _Y2, M _Y3) and the z direction load (M of three blade sheet roots _Z1, M _Z2, M _Z3), encoder is measured the impeller azimuth angle theta, and master controller is with the z direction load (M of three blade sheet roots _Z1, M _Z2, M _Z3), through lower pass-filter and trapper,, be transformed to the sharing part of the load M that tumbles on y axle and the z axle again through the Park conversion _TiltWith driftage sharing part of the load M _Yaw,, draw the pitch angle (β that exports on y axle and the z axle through the control of PI controller _Tilt, β _Yaw), through the Park inverse transformation, draw the uneven pitch angle of wind wheeling rotor that becomes oar control desired output

The y direction load (M of three blade sheet roots _Y1, M _Y2, M _Y3) through lower pass-filter and trapper,, be transformed to the sharing part of the load M that tumbles on d axle and the q axle again through the Park conversion _dWith driftage sharing part of the load M _q,, draw the pitch angle of d axle and q axle output through the control of PI controller

Through becoming the oar rate limit, must deviate through the Park inverse transformation becomes the deviation pitch angle of oar control desired output again

Change oar rate limit method is described in detail in detail below, in practice,, the change vane angle that becomes the oar final controlling element is satisfied as lower inequality with change oar speed owing to the operating range that becomes oar actuator is restricted

$\left\{\begin{array}{c}{\mathrm{\β}}_{\min }\≤{\mathrm{\β}}_i^{\mathrm{ref}}\≤{\mathrm{\β}}_{\max }\\ {\stackrel{\·}{\mathrm{\β}}}_{\min }\≤{\stackrel{\·}{\mathrm{\β}}}_i^{\mathrm{ref}}\≤{\stackrel{\·}{\mathrm{\β}}}_{\max }\end{array}\right.(i=\mathrm{1,2,3})---\left(1\right)$

In the formula: β _MinFor becoming the lower limit of oar position; β _MaxFor becoming the upper limit of oar position; For becoming the lower limit of oar speed;

For becoming the upper limit of oar speed;

The expectation pitch angle of blade i;

The expectation pitch angle of blade i becomes oar speed.

${\mathrm{\ψ}}_i={\mathrm{\ψ}}_1+\frac{2\mathrm{\π}(i-1)}{3}---\left(2\right)$

In the formula: ψ _iAzimythal angle for blade i.

${\mathrm{\β}}_i^{\mathrm{ref}}={\mathrm{\β}}_c+\sin \left({\mathrm{\ψ}}_i\right){\mathrm{\β}}_q+\cos \left({\mathrm{\ψ}}_i\right){\mathrm{\β}}_d,(i=\mathrm{1,2,3})$

By following formula as can be known, independent pitch d-q axle propeller pitch angle can become vane angle and become oar speed and exerts an influence blade.Become vane angle and become oar speed and should satisfy the inequality relation of formula (1).Become the oar final controlling element in normal operating range in order to make, must restriction β _dAnd β _qSize make itself and azimythal angle irrelevant simultaneously.Therefore be defined as follows representation

$\left\{\begin{array}{c}{\mathrm{\β}}^{\mathrm{rest}}=\max \{0,\min \{{\mathrm{\β}}_{\max }-{\mathrm{\β}}_c,{\mathrm{\β}}_c-{\mathrm{\β}}_{\min }\left\}\right\}\\ {\stackrel{\·}{\mathrm{\β}}}^{\mathrm{rest}}=\max \{0,\min \{{\stackrel{\·}{\mathrm{\β}}}_{\max }-{\stackrel{\·}{\mathrm{\β}}}_c,{\stackrel{\·}{\mathrm{\β}}}_c-{\stackrel{\·}{\mathrm{\β}}}_{\min }\left\}\right\}\end{array}\right.---\left(3\right)$

In the formula: β _cBe collaborative pitch angle;

Be the collaborative oar speed that becomes.In order to derive β _d, β _qScope, be defined as follows goal expression:

J(ψ，β _q，β _d)＝sin(ψ)β _q+cos(ψ)β _d (4)

Above-mentioned goal expression satisfies following inequality relation

$\left|\left[\begin{array}{c}J(\mathrm{\ψ},{\mathrm{\β}}_q,{\mathrm{\β}}_d)\\ \stackrel{\·}{J}(\mathrm{\ψ},{\mathrm{\β}}_q,{\mathrm{\β}}_d)\end{array}\right]\right|\≤\left[\begin{array}{c}{\mathrm{\β}}^{\mathrm{rest}}\\ {\stackrel{\·}{\mathrm{\β}}}^{\mathrm{rest}}\end{array}\right]---\left(5\right)$

There is a α in order to simplify following formula, to suppose _q＞0 and α _d＞0 two constant is set up following expression

|β _i|≤α _iβ ^rest，(i＝d，q) (6)

By formula (4), formula (5) and formula (6), the maximum value of goal expression is as can be known:

$\begin{array}{c}\left[\max J(\mathrm{\&psi;},{\mathrm{\&beta;}}_d,{\mathrm{\&beta;}}_q)\right]\&equiv;\sqrt{{\mathrm{\&beta;}}_{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HSA00000319021300013.png,HSA00000319021300021.png"\; state="\{\{state\}\}">q</figure-callout>}}^2+{\mathrm{\&beta;}}_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HSA00000319021300013.png,HSA00000319021300021.png"\; state="\{\{state\}\}">d</figure-callout>}}^2}\\ \&le;{\mathrm{\&beta;}}^{\mathrm{rest}}\sqrt{{\mathrm{\&alpha;}}_{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HSA00000319021300013.png,HSA00000319021300021.png"\; state="\{\{state\}\}">q</figure-callout>}}^2+{\mathrm{\&alpha;}}_d^2}\end{array}---\left(7\right)$

In the formula: α _qAnd α _dSatisfy

With Relation.

Unite above-mentioned two relational expressions and can get α _qAnd α _dValue

${\mathrm{\&alpha;}}_j=\frac{\left|{\mathrm{\&beta;}}_j^{\mathrm{unlim}}\right|}{\sqrt{{\left({\mathrm{\&beta;}}_q^{\mathrm{unlim}}\right)}^2+{\left({\mathrm{\&beta;}}_d^{\mathrm{unlim}}\right)}^2}},j=d,q---\left(8\right)$

In order to derive With

Scope, be defined as follows goal expression:

$\stackrel{\&CenterDot;}{J}(\mathrm{\&psi;},{\mathrm{\&beta;}}_d,{\mathrm{\&beta;}}_q)={\stackrel{\&CenterDot;}{J}}_q(\mathrm{\&psi;},{\mathrm{\&beta;}}_q)+{\stackrel{\&CenterDot;}{J}}_d(\mathrm{\&psi;},{\mathrm{\&beta;}}_d)---\left(9\right)$

In the formula,

With

Representation as follows:

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{J}}_q(\mathrm{\&psi;},{\mathrm{\&beta;}}_q)=-\mathrm{\&Omega;}\cos \left(\mathrm{\&psi;}\right){\mathrm{\&beta;}}_q+\sin \left(\mathrm{\&psi;}\right){\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}_q\\ {\stackrel{\&CenterDot;}{J}}_d(\mathrm{\&psi;},{\mathrm{\&beta;}}_d)=-\mathrm{\&Omega;}\sin \left(\mathrm{\&psi;}\right){\mathrm{\&beta;}}_d+\cos \left(\mathrm{\&psi;}\right){\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}_d\end{array}\right.$

In the following formula: Ω is a wind wheel angular velocity.Suppose and have γ _PosAnd γ _SpdTwo variablees are set up following expression

$\left\{\begin{array}{c}\left|{\mathrm{\&beta;}}_j\right|\&le;{\mathrm{\&gamma;}}_{\mathrm{pos}}{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}_j^{\mathrm{rest}}\\ \left|{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}_j\right|\&le;{\mathrm{\&gamma;}}_{\mathrm{spd}}{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}_j^{\mathrm{rest}}\end{array}\right.,(j=d,q)---\left(10\right)$

By formula (9) and formula (10), the maximum value of goal expression is as can be known:

$\begin{array}{c}\max \stackrel{\&CenterDot;}{J}(\mathrm{\&psi;},{\mathrm{\&beta;}}_d,{\mathrm{\&beta;}}_q)=\sqrt{{\left({\mathrm{\&Omega;\&beta;}}_j\right)}^2+{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}_{\mathrm{<figure-callout\; id="2"\; label="j"\; filenames="HSA00000319021300013.png,HSA00000319021300021.png"\; state="\{\{state\}\}">j</figure-callout>}}^2}\\ \&le;\sqrt{{\left({\mathrm{\&gamma;}}_{\mathrm{pos}}\mathrm{\&Omega;}\right)}^2+{\mathrm{\&gamma;}}_{\mathrm{<figure-callout\; id="2"\; label="spd"\; filenames="HSA00000319021300013.png,HSA00000319021300021.png"\; state="\{\{state\}\}">spd</figure-callout>}}^2}{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}^{\mathrm{rest}}\end{array}$

γ in the formula _PosAnd γ _SpdSatisfy following relation

$\frac{{\mathrm{\&gamma;}}_{\mathrm{pos}}\mathrm{\&Omega;}}{{\mathrm{\&gamma;}}_{\mathrm{spd}}}=\frac{\left|{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}_q^{\mathrm{unlim}}\right|}{\left|{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}_d^{\mathrm{unlim}}\right|},{\left({\mathrm{\&gamma;}}_{\mathrm{pos}}\mathrm{\&Omega;}\right)}^2+{\mathrm{\&gamma;}}_{\mathrm{<figure-callout\; id="2"\; label="spd"\; filenames="HSA00000319021300013.png,HSA00000319021300021.png"\; state="\{\{state\}\}">spd</figure-callout>}}^2=1---\left(11\right)$

Can get γ by formula (11) _PosAnd γ _SpdValue:

$\left\{\begin{array}{c}{\mathrm{\&gamma;}}_{\mathrm{pos}}=\frac{\left|{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}_q^{\mathrm{unlim}}\right|}{\mathrm{\&Omega;}\sqrt{{\left({\mathrm{\&beta;}}_q^{\mathrm{unlim}}\right)}^2+{\left({\mathrm{\&beta;}}_d^{\mathrm{unlim}}\right)}^2}}\\ {\mathrm{\&gamma;}}_{\mathrm{spd}}=\frac{\left|{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}_d^{\mathrm{unlim}}\right|}{\sqrt{{\left({\mathrm{\&beta;}}_q^{\mathrm{unlim}}\right)}^2+{\left({\mathrm{\&beta;}}_d^{\mathrm{unlim}}\right)}^2}}\end{array}\right.,---\left(12\right)$

Consider actual independent pitch apart from system, establishing the sampling period is T _sConvolution (6), formula (8), formula (10) and formula (12) can get β _dAnd β _qDiscrete inequality

$\left\{\begin{array}{c}\left|{\mathrm{\&beta;}}_j\left(k\right)\right|\&le;\min \{{\mathrm{\&alpha;}}_j{\mathrm{\&beta;}}^{\mathrm{rest}},{\mathrm{\&gamma;}}_{\mathrm{pos}}{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}^{\mathrm{rest}}\}\\ |{\mathrm{\&beta;}}_j\left(k\right)-{\mathrm{\&beta;}}_j(k-1)|\&le;T_s{\mathrm{\&gamma;}}_{\mathrm{spd}}{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}^{\mathrm{rest}}\end{array}\right.j=d,q---\left(13\right)$

It is too fast that passing through type (13) can avoid becoming oar speed.

At last, become the pitch angle that oar control draws three blade desired outputs of independent feathering control by control of collaborative change oar and deviation

And be that current signal in the certain limit is controlled the actuating motor action and realized becoming oar by inverter converts.

This technical scheme advantage is to have increased the control of the change oar of the alternate load that produces and change oar rate limit blocks not on same point to wind wheel barycenter and center of rotation newly, substantially all be the collaborative change oar technology of drive for present large scale wind power machine, therefore do not need physical arrangement to change for independent feathering control.

Claims (3)

1. speed-changing oar-changing wind power generating set independent pitch control method comprises the collaborative oar control procedure that becomes, and described collaborative change oar control procedure is the output power P that detects generator _g, with reference rated power P _RateSubtract each other and draw power deviation Δ P, draw the collaborative collaborative pitch angle β that becomes the oar desired output according to following Laplce's relation _c,

Wherein: K _pBe the scaling factor of PI controller, K _iBe PI controller integral coefficient, F _kBe PI controller gain coefficient, it is characterized in that: described independent pitch control method comprises that also deviation becomes the oar control procedure, and described deviation becomes the oar control procedure and comprises:

1), detects the y direction load (M of three blade sheet roots _Y1, M _Y2, M _Y3), z direction load (M _Z1, M _Z2, M _Z3) and the impeller azimuth angle theta, and pass to master controller together; Master controller is with the y direction load (M of three blade sheet roots _Y1, M _Y2, M _Y3) through the Park conversion, be transformed to the sharing part of the load M that tumbles _dWith driftage sharing part of the load M _qWith z direction load (M _Z1, M _Z2, M _Z3) through the Park conversion, be transformed to the sharing part of the load M that tumbles _TiltWith driftage sharing part of the load M _Yaw

2), the sharing part of the load M that will tumble _dWith driftage sharing part of the load M _qThe following Laplce's relation of difference substitution:

$\frac{{\mathrm{\&beta;}}_d^{\mathrm{unlim}}}{M_d}=K_{\mathrm{pd}}+\frac{K_{\mathrm{id}}}{s}$

$\frac{{\mathrm{\&beta;}}_q^{\mathrm{unlim}}}{M_q}=K_{\mathrm{pq}}+\frac{K_{\mathrm{iq}}}{s}$

Draw the pitch angle of d axle and q axle output

The sharing part of the load of will tumbling M _TiltWith driftage sharing part of the load M _YawThe following Laplce's relation of difference substitution:

$\frac{{\mathrm{\&beta;}}_{\mathrm{tilt}}}{M_{\mathrm{tilt}}}=K_{\mathrm{py}}+\frac{K_{\mathrm{iy}}}{s}$

$\frac{{\mathrm{\&beta;}}_{\mathrm{yaw}}}{M_{\mathrm{yaw}}}=K_{\mathrm{pz}}+\frac{K_{\mathrm{iz}}}{s}$

Draw the pitch angle (β that exports on y axle and the z axle _Tilt, β _Yaw); In the following formula: K _Pd, K _Pq, K _Py, K _PzBe the scaling factor of PI controller, K _Id, K _Iq, K _Iy, K _IzIntegral coefficient for the PI controller;

3), the pitch angle of described d axle and q axle output

Through becoming the oar rate limit, it is as follows to become oar rate limit inequality:

$\left\{\begin{array}{c}\left|{\mathrm{\&beta;}}_j\left(k\right)\right|\&le;\min \{{\mathrm{\&alpha;}}_j{\mathrm{\&beta;}}^{\mathrm{rest}},{\mathrm{\&gamma;}}_{\mathrm{pos}}{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}^{\mathrm{rest}}\}\\ |{\mathrm{\&beta;}}_j\left(k\right)-{\mathrm{\&beta;}}_j(k-1)|\&le;T_s{\mathrm{\&gamma;}}_{\mathrm{spd}}{\stackrel{\&CenterDot;}{\mathrm{\&beta;}}}^{\mathrm{rest}}\end{array}\right.j=d,q;$

In the following formula:

Ω is the wind wheel angular velocity of rotation;

β _MaxFor becoming the oar position upper limit; β _MinFor becoming oar position lower limit;

For becoming the oar rate-limit; For becoming oar speed lower limit; T _sBe the sampling time of PI controller;

Draw the expectation pitch angle (β of d axle and the output of q axle change oar rate limit through following formula _d, β _q), expectation pitch angle (β _d, β _q) through the Park inverse transformation, must deviate becomes the deviation pitch angle of oar control desired output

Expectation pitch angle (the β of y axle and the output of z axle _Tilt, β _Yaw) through the Park inverse transformation, draw the uneven pitch angle of wind wheeling rotor that becomes oar control desired output

4), according to the collaborative collaborative pitch angle β that becomes oar control desired output _c, deviation becomes the deviation pitch angle of oar control desired output

With the uneven pitch angle of wind wheeling rotor that becomes oar control desired output Draw the pitch angle of independent feathering control desired output

5), with the pitch angle of independent feathering control desired output

Control each respectively and become oar actuating motor action realization change oar.

2. speed-changing oar-changing wind power generating set independent pitch control method as claimed in claim 1 is characterized in that: the y direction load (M of described three blade sheet roots _Y1, M _Y2, M _Y3), z direction load (M _Z1, M _Z2, M _Z3) before the Park conversion, pass through low-pass filter by following Laplce's relation:

With pass through trapper by following Laplce's relation:

Wherein: i=1,2,3; M _YiAnd M _YifBe respectively before the filtering and filtering after the root load of i blade; w ₁Natural frequency for low-pass filter; η ₁Inherent damping for low-pass filter; w ₂And w ₃Natural frequency for resistance-trap filter; η ₁And η ₂Inherent damping for trapper.

3. speed-changing oar-changing wind power generating set independent pitch control method as claimed in claim 1 is characterized in that: described generated output power P _gCarry out filtering by following Laplce's relation:

Wherein: P _gBe filtered generated output power; w ₄Natural frequency for low-pass filter; η ₄Damping ratio for low-pass filter; w ₅And w ₆Natural frequency for trapper; η ₅And η ₆Damping ratio for trapper.

Images