CN103244350A - Method for tracking and controlling optimum tip speed ratio of wind power generation unit - Google Patents

Method for tracking and controlling optimum tip speed ratio of wind power generation unit Download PDF

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CN103244350A
CN103244350A CN2013101580457A CN201310158045A CN103244350A CN 103244350 A CN103244350 A CN 103244350A CN 2013101580457 A CN2013101580457 A CN 2013101580457A CN 201310158045 A CN201310158045 A CN 201310158045A CN 103244350 A CN103244350 A CN 103244350A
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speed ratio
tip speed
wind
best tip
speed
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CN103244350B (en
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邬昌明
邵宜祥
王长宝
王文卓
胡丽萍
曾雨竹
蔡国洋
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Nari Technology Co Ltd
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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 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/028—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power
    • F03D7/0284—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power in relation to the state of the electric grid
    • 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
    • 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
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/32—Wind speeds
    • 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

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Wind Motors (AREA)

Abstract

The invention belongs to the technical field of source network coordination and relates to a method for enabling a fan operating at a low speed to be adjusted to operate at an optimum tip speed ratio and simultaneously and automatically correcting the optimum tip speed ratio regularly. The method includes the following steps: calculating an accurate power value of a power generator according to feedback torque and rotating speed; calculating wind speed according to power factors corresponding to the power and the optimum tip speed ratio; when the rotating speed can be adjusted, adjusting the rotating speed to enable the fan to operate in an optimum tip speed ratio state; when the rotating speed cannot be adjusted, adjusting a pitch angle to enable the fan to operate in an optimum tip speed ratio state; and adopting a statistical average hill-climbing method to correct the optimum tip speed ratio corresponding to a minimum pitch angle. By adopting the method, problems of existing methods are solved.

Description

The best tip speed ratio tracking and controlling method of a kind of wind power generating set
Technical field
The present invention relates to wind power generation field, the best tip speed ratio tracking and controlling method of especially a kind of wind power generating set.
Background technique
The maximal power tracing of wind energy conversion system refers to below rated wind speed, by regulating wind speed round, it is changed along with change of wind velocity, thereby make wind energy conversion system remain on best tip speed ratio state, power coefficient is remained on maximum value, obtain the method for peak output output.
It is the key problem of wind-power electricity generation that maximal wind-energy is followed the tracks of (MPPT), but the characteristic of the tracking of wind energy is determined by wind energy conversion system.Therefore no matter be the sort of wind energy conversion system, the thought that its wind energy is followed the tracks of communicates.Maximal wind-energy tracking control commonly used at present mainly contains optimum tip speed ratio method, power signal feedback transmitter, optimum torque method, climbing method.
Best tip speed ratio is calculated corresponding optimized rotating speed by the recording anemometer of measuring, and makes blower fan maintain the optimized rotating speed operation by regulating torque.This method subject matter is to measure the actual wind speed size accurately.
The optimum torque method is for by given rotating speed and torque, power curve, the method that the rotating speed by measurement carries out given power and torque, and the subject matter of this method is that optimized rotating speed and torque, power curve are difficult to obtain.Another problem is along with the working time of blower fan is elongated, and reasons such as deformable blade can cause fan characteristic to change, thereby makes that given rotating speed and torque, power curve no longer is optimal curve originally.
Climbing method be command value to the control of the rotating speed of blower fan with certain rotating speed disturbed value Δ ω, the power of observing windmill then changes.If power increases, then the perturbation direction of windmill rotating speed is constant, if power reduction is then reverse with the disturbance of windmill rotating speed.Application number is that 201110173155.1 Chinese patent application is improved this climbing method method, and this patent algorithm has not only been inherited the variable step climbing method and searched for fast near the advantage the MPP, also has maximum power point (MPP) and detects and stop mechanism.In the time of near blower fan tracks to MPP, this mechanism not only can effectively reduce speed oscillation to the wearing and tearing of blower fan system mechanical part, more overcome algorithm and stopped the interference that mechanism comes into force and when afterwards wind speed changes again the direction of search judged, thereby further improved the wind energy capture rate.This method problem is that it is applicable to the miniature wind power generation system that inertia is very little, for the bigger large scale wind power machine system of inertia, because wind energy conversion system has bigger rotary inertia, the time constant of system is longer, makes this method can't effectively control large-scale wind-force unit.
Application number is that 200610097565.1 Chinese patent application has adopted original state according to original peak output curve blower fan to be carried out the power signal feedback control, wind speed changes hour employing climbing method optimizing control, obtain maximum output under the current wind speed and corresponding generator speed by the rotating speed disturbance, according to original peak output curve and initiate data point, obtain revised peak output curve.Wind speed adopts revised up-to-date power curve when changing greatly, and system is adopted the power signal feedback control.This method is had relatively high expectations for the wind speed situation of wind field, especially unit capacity is more big, wind wheel inertia is more big, and it is more long to use climbing method control blower fan to reach the required delay time of balance, and the climbing method control system reaches that to stablize needed time be that look-up table reaches about 5 times that stablize needed time usually.For the higher category-A wind field of some wind speed turbulivitys, it is bigger to use this method to carry out the difficulty of power curve correction.
So, need a kind of new technological scheme to address the above problem.
Summary of the invention
For solving the problems of the technologies described above, the invention provides the best tip speed ratio tracking and controlling method of a kind of wind power generating set.
For achieving the above object, the best tip speed ratio tracking and controlling method of wind power generating set of the present invention can adopt following technological scheme:
The best tip speed ratio tracking and controlling method of a kind of wind power generating set comprises the steps:
(1), calculate definite generator power value by feedback torque and tachometer, the power factor by power and best tip speed ratio correspondence calculates wind speed;
(2), regulate rotating speed under the rotating speed situation about can regulate and make fan operation at best tip speed ratio state, regulate propeller pitch angle under the situation that rotating speed can not be regulated, make fan operation at best tip speed ratio state;
(3), adopt the statistical average climbing method, the best tip speed ratio value that minimum is become vane angle degree correspondence is proofreaied and correct, and proofreaies and correct the minimum blade angle beta by the statistical average climbing method 0Corresponding best tip speed ratio value
Figure BDA00003133995800021
Method be: in the fan operation process, the calculation of wind speed and the corresponding value of respective leaves tip-speed ratio that provide in the sample range are added up, sampling statistics is carried out average computation after reaching the scale of expectation; It is right after statistics is finished for the first time
Figure BDA00003133995800022
Carry out disturbance, the statistical value that repeats statistic processes and calculating back and front compares, and chooses more excellent
Figure BDA00003133995800023
Value.Count optimum Again carry out this statistics checking procedure after operation a period of time, obtain again
Figure BDA00003133995800025
Optimum value.
Compared with prior art, the problem of the present invention's solution has: 1, how to obtain accurate wind speed and regulate blower fan, make fan operation under best tip speed ratio state; 2, how to increase the wind speed range of fan operation under best tip speed ratio state; 3, uncertain or along with best tip speed ratio value how to determine 0 ° of angle correspondence of blower fan after the blade long-play distortion in best tip speed ratio value.
Description of drawings
Fig. 1 is the figure of the set of curves that power factor and tip speed ratio relation changes with propeller pitch angle among the present invention.
Fig. 2 is that apoplexy mechanism of the present invention is thought state operation curve figure.
Fig. 3 is the best tip speed ratio Tracing Control of the present invention strategic process figure.
Fig. 4 is best tip speed ratio statistical average climbing method correcting process figure under the minimum angles among the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand these embodiments only is used for explanation the present invention and is not used in and limits the scope of the invention, after having read the present invention, those skilled in the art all fall within the application's claims institute restricted portion to the modification of the various equivalent form of values of the present invention.
(1) calculate definite generator power value by feedback torque and tachometer, the power factor by power and best tip speed ratio correspondence calculates wind speed.
(2) regulate rotating speed under the situation that rotating speed can be regulated and make fan operation at best tip speed ratio state, regulate propeller pitch angle under the situation that rotating speed can not be regulated, make fan operation at best tip speed ratio state.
(3) adopt the statistical average climbing method, the best tip speed ratio value that minimum is become vane angle degree correspondence is proofreaied and correct.
In the present invention, disclosed and a kind ofly obtained the method for current wind speed by calculating, used this wind speed to carry out best tip speed ratio Tracing Control to blower fan more accurately.Our wind wheel power absorbed P as can be known from aerodynamics eAs follows with the relation of wind speed v:
P e = 1 2 C p ρA v 3 - - - ( 1 )
Wherein A is wind wheel swept surface area, and ρ is air density, C pBe power factor.P wherein eCan obtain by the power measurement module, accurate for what guarantee to calculate, the present invention proposes to use the current feedback torque T of frequency variator eWith current generator speed ω rCalculate.
P e=T e*ω r (2)
Ask for air speed value from formula (1), (2) and also need to know C under the current state pSize, and C in fact pSize be unknown, so the supposition blower fan be currently operating at best tip speed ratio state, then can determine C pBe the power factor maximum value C under the current change oar angle beta P_max_ βCan obtain calculation of wind speed behind simultaneous formula (1), (2) is
v count = 2 * T e * ω r / ( C p _ max _ β * ρ * A ) 3 - - - ( 3 )
In the present invention, disclosed how to increase the wind speed range of fan operation under best tip speed ratio state.As can be seen from Figure 1, along with the increase that becomes the vane angle degree, also gradually the increase of the optimum tip speed ratio of peak output factor correspondence.The tip speed ratio formula is:
λ = ωR v - - - ( 4 )
Wherein ω is fan blade angular velocity, and R is the fan blade radius of gyration, and v is wind speed.
For different blower fans, the speed range that is incorporated into the power networks substantially constant, common controlling method is at equal constant oar of maximum power tracing stage.Because the restriction of speed range, maximum power tracing wind speed range have also just been determined.Propose among the present invention under little wind, the permanent minimum rotating speed that is incorporated into the power networks of fan operation becomes oar control according to calculation of wind speed during the stage, thereby changes power factor and best tip speed ratio relation curve.From formula (4) as can be known, along with the increase of best tip speed ratio value, under the constant situation of the minimum rotating speed that is incorporated into the power networks, realize that the wind speed that best tip speed ratio follows the trail of is littler, thereby reach the purpose that increases the wind speed range of fan operation under best tip speed ratio state.
In the present invention, disclose best tip speed ratio Tracing Control strategy and be divided into two parts.Describe according to the desirable operation curve division of the blower fan among Fig. 2, wherein the AB stage is the permanent rotating speed stage, and the BC stage is the best tip speed ratio track phase under the constant propeller pitch angle.In the AB stage, keep invariablenes turning speed by regulating torque, guarantee fan operation at best tip speed ratio state by regulating propeller pitch angle, and the BC stage, propeller pitch angle is constant in the minimum blade angle beta 0The position changes generator speed assurance fan operation in best tip speed ratio state by regulating torque instruction.
In the present invention, disclosed and a kind ofly proofreaied and correct the minimum blade angle beta by the statistical average climbing method 0Corresponding best tip speed ratio value
Figure BDA00003133995800042
Method, in the fan operation process, the calculation of wind speed and the corresponding value of respective leaves tip-speed ratio that provide in the sample range are added up, sampling statistics is carried out average computation after reaching the scale of expectation.It is right after statistics is finished for the first time
Figure BDA00003133995800043
Carry out disturbance, the statistical value that repeats statistic processes and calculating back and front compares, and chooses more excellent
Figure BDA00003133995800044
Value.Count optimum
Figure BDA00003133995800045
Again carry out this statistics checking procedure after operation a period of time, obtain again
Figure BDA00003133995800046
Optimum value.
Provide embodiment below more by reference to the accompanying drawings.
Wind energy conversion system is with mechanical energy (P m) be converted to electric energy (P m) coefficient
Figure BDA00003133995800047
And C pBe the function of tip speed ratio λ and propeller pitch angle β equally.Can say equally that namely power factor is expressed as C p=f (λ, β), the relation between the three can find out for each propeller pitch angle β that determines a C is arranged all by the curve among Fig. 1 pMaximum point C P_max_ βThere is a best tip speed ratio λ in correspondence with it Opt_ βTherefore, under a certain wind speed, can realize the purpose of best tip speed ratio tracking by regulating change vane angle degree or adjusting vane rotating speed.
The present invention is divided into two parts according to shown in Figure 2 with maximum power tracing control, a part realizes fan operation under best tip speed ratio condition by regulating propeller pitch angle, and another part operates under the best tip speed ratio condition it by the adjusting vane rotating speed.Below in conjunction with Fig. 3 the process of finishing maximum power tracing by the control fan operation under best tip speed ratio condition of the present invention is described.
1), initialization is carried out in control to the maximum power tracing of best tip speed ratio, the initialization content comprises feedback torque, generator speed, power factor, the torque of output, propeller pitch angle command value.
2), choose optimum tip speed ratio λ under the current angle according to form OptCorresponding C P_maxValue substitution formula (3) calculates current calculation of wind speed v Count
3), use v CountWith actual speed w rCalculate the tip speed ratio λ of current time by formula (4) r
4) the tip speed ratio λ that, compares current time rBe 0 ° of best tip speed ratio λ with corresponding propeller pitch angle 0If λ rλ 0Enter adjusting the 8th) step.If λ r＜λ 0Enter adjusting the 5th) step.
5), with the speed of 1 °/s with propeller pitch angle to 0 ° of adjusting.According to formula (1), pass through λ OptAnd v CountCalculate the optimal objective rotational speed omega Ref
6) if actual speed w rGreater than ω Ref, regulate increase torque instruction value T by PI RefIf w rLess than ω Ref, reduce torque instruction value T by the PI adjusting Ref
7) repeating step 2 after the rotation speed change), 3), 4).Ratio between blower fan calculation of wind speed and rotating speed reaches the state of equilibrium that proportionate relationship is.
8) regulate torque instruction value T by PI RefKeep invariablenes turning speed at the minimum rotating speed that is incorporated into the power networks.
9) table look-up and ask tip speed ratio λ rBe the corresponding propeller pitch angle value of best tip speed ratio, use this propeller pitch angle value of tabling look-up as target propeller pitch angle value β RefBecoming oar regulates.
10) repeating step 2 after propeller pitch angle changes), 3), 4).Reach calculation of wind speed, rotating speed, propeller pitch angle three until blower fan and reach state of equilibrium.
For powerful unit, because rotary inertia is excessive, thereby use real-time best tip speed ratio is followed the trail of of climbing method to be not easy to reach state of equilibrium and to obtain a definite optimum value, the dynamic disturbances of carrying out of not stopping simultaneously causes the speed oscillation meeting to deepen the wearing and tearing of mechanical part, influences the service life of blower fan.The present invention proposes a kind of statistics climbing method, namely by the value averaged in the statistics certain limit, best tip speed ratio value is carried out carrying out statistical comparison again after the disturbance, thereby obtain the suitable best tip speed ratio value that is used for blower fan control.Below in conjunction with Fig. 4 this method is described:
1), initialization is carried out in the control of proofreading and correct best tip speed ratio value under the constant angle, initialization comprises best tip speed ratio initial value, the scale of sampling, the calculation of wind speed scope=v of sampling Mid± 0.1, the tip speed ratio scope of sampled point, tip speed ratio disturbance etc.
2), all calculation of wind speed are positioned at the calculation of wind speed scope, simultaneously corresponding tip speed ratio is positioned at the value of sampling tip speed ratio scope and carries out record, and the content of record comprises: calculation of wind speed, current power.
3), the statistics scale reached this wind speed mean value and power average value of storage after the statistics scale that sets, and calculates corresponding wind energy absorption efficiency
4), give the disturbance of a step-length of best tip speed ratio, repeating step 2), 3).The wind energy absorption efficiency K that compares twice statistics 1K 2
5), if K 1＞K 2Then carry out disturbance in the opposite direction, and repeating step 2), 3), 4).If K 1＜K 2Then carry out disturbance to identical direction, and repeating step 2), 3), 4).
6), when the forward disturbance and oppositely disturbance all more current wind energy absorption efficiency is little, then selected current tip speed ratio is controlled as optimum tip speed ratio.
7), determine a suboptimum tip speed ratio move 1 year after repeating step 2 again), 3), 4), 5), 6), adjust new best tip speed ratio value.
The present invention is illustrated according to the preferred embodiment, should be appreciated that but above-described embodiment does not limit the present invention in any form, and all employings are equal to replaces or technological scheme that the form of equivalent transformation obtains, all drops within protection scope of the present invention.

Claims (4)

1. the best tip speed ratio tracking and controlling method of wind power generating set is characterized in that, comprises the steps:
(1), calculate definite generator power value by feedback torque and tachometer, the power factor by power and best tip speed ratio correspondence calculates wind speed;
(2), regulate rotating speed under the rotating speed situation about can regulate and make fan operation at best tip speed ratio state, regulate propeller pitch angle under the situation that rotating speed can not be regulated, make fan operation at best tip speed ratio state;
(3), adopt the statistical average climbing method, the best tip speed ratio value that minimum is become vane angle degree correspondence is proofreaied and correct, and proofreaies and correct the minimum blade angle beta by the statistical average climbing method 0Corresponding best tip speed ratio value
Figure FDA00003133995700011
Method be: in the fan operation process, the calculation of wind speed and the corresponding value of respective leaves tip-speed ratio that provide in the sample range are added up, sampling statistics is carried out average computation after reaching the scale of expectation; It is right after statistics is finished for the first time Carry out disturbance, the statistical value that repeats statistic processes and calculating back and front compares, and chooses more excellent Value.Count optimum
Figure FDA00003133995700014
Again carry out this statistics checking procedure after operation a period of time, obtain again
Figure FDA00003133995700015
Optimum value.
2. the best tip speed ratio tracking and controlling method of wind power generating set as claimed in claim 1, it is characterized in that: the computational methods of wind speed are for being in the described step (1):
Power P eWith the pass of wind speed v be: e
Figure FDA00003133995700016
Wherein A is wind wheel swept surface area, and ρ is air density, C pBe power factor; Use the current feedback torque T of frequency variator eWith current generator speed ω rCalculate P e: P e=T g* ω rIf C pBe the power factor maximum value C under the current change oar angle beta P_max_ βObtaining calculation of wind speed is:
v count = 2 * T e * ω r / ( C p _ max _ β * ρ * A ) 3 ; .
3. the best tip speed ratio tracking and controlling method of wind power generating set as claimed in claim 1, it is characterized in that: regulate propeller pitch angle under the situation that step (2) medium speed can be regulated and make fan operation in the method for best tip speed ratio state be: tip speed ratio λ formula is:
Figure FDA00003133995700018
Wherein ω is fan blade angular velocity, and R is the fan blade radius of gyration, and v is wind speed; Along with the increase of best tip speed ratio value, under the constant situation of the minimum rotating speed that is incorporated into the power networks, realize that the wind speed that best tip speed ratio follows the trail of is littler, thereby reach the purpose that increases the wind speed range of fan operation under best tip speed ratio state.
4. the best tip speed ratio tracking and controlling method of wind power generating set as claimed in claim 1, it is characterized in that: regulate propeller pitch angle under the situation that step (2) medium speed can not be regulated and make fan operation in the method for best tip speed ratio state be: blower fan is positioned at permanent rotating speed during the stage, keep invariablenes turning speed by regulating torque, guarantee that by regulating propeller pitch angle fan operation is at best tip speed ratio state; Blower fan is positioned at constant propeller pitch angle during the stage, and propeller pitch angle is constant in the minimum blade angle beta 0The position changes generator speed assurance fan operation in best tip speed ratio state by regulating torque instruction.
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