CN104675629B - A kind of maximal wind-energy capture method of Variable Speed Wind Power Generator - Google Patents
A kind of maximal wind-energy capture method of Variable Speed Wind Power Generator Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
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Abstract
The present invention relates to the maximal wind-energy capture of the low wind speed section of wind-driven generator, the situation of wind energy is captured by wind-driven generator in several previous controlling cycles, estimate the current optimized rotating speed of wind-driven generator, inputted as controller, and then based on indirect rotating speed control algolithm, passing ratio control reduces error, so as to realize the optimized rotating speed of tracking wind-driven generator, obtains the power output of maximum.The present invention to wind-driven generator without carrying out Accurate Model, also without measurement wind speed, with simple in construction, parameter is easy to adjust, it is high to produce the indirect method for controlling number of revolution maximal wind-energy capture method that energy is more industrially commonly used, the influence of environmental factor and the change of wind-driven generator self structure for generation energy can be weakened, can meet that most of wind-driven generators are less than the control targe of rated wind speed section, there is larger application value.
Description
Technical field
The present invention relates to the most strong wind in control technology on wind electricity generation unit field, the more particularly to low wind speed section of wind-driven generator
Can capture control.
Background technology
Wind energy is a kind of green non-pollution, reproducible new energy, therefore, the capture of wind energy for solve environmental pollution and
Energy crisis has great importance.In the last few years, wind-powered electricity generation switch technology worldwide obtained quick development.Using
The Power Electronic Technique of variable speed constant frequency, obtained change oar is progressively improved on the basis of original fixed pitch Fixed Speed Wind Turbine Generator group
Away from speed-changing wind power generator, turn into the mainstream type that wind-powered electricity generation is installed.The operation generating state of variable pitch and variable speed wind generating unit
Two stages, the maximal wind-energy capture stage of low wind speed section and the output-constant operation stage of high wind speed section can be substantially divided into.But
It is, because the wind power generating set of wind power generation is the Great inertia system of nonlinear time-varying in itself, meanwhile, bring the wind of strong disturbance
Speed, has that measured value is inaccurate and disabled engineering present situation, while the uncertain factor that grid-connected and outdoor operation is brought is again
Another problem of wind-power electricity generation control.Therefore, high performance control technology is to improve the horizontal key technology of wind-power electricity generation, for
Improve Wind energy extraction and reliability of generating electricity by way of merging two or more grid systems has conclusive effect.
Wind-driven generator is when low wind speed section is run, to obtain power as much as possible as control targe.Wherein, wind-force profit
The wind energy of wind energy conversion system acquisition has been largely fixed with coefficient Cp, in the timings of β mono- for the wind-driven generator of separate unit, has been deposited
Best power coefficient C is correspond at onepmaxOptimum tip-speed ratio λopt, now wind-driven generator conversion efficiency highest, is obtained
It is maximum to obtain wind energy.Also imply that, for a certain specific wind speed v, wind-driven generator only operates in a specific rotating speed
ωroptIt is lower just to have highest wind energy conversion efficiency.
Because the wind speed measured in practice is single-point wind speed, and is used in formula and be evenly distributed in wind-driven generator oar
The spatial averaging of wind speed on leaf, so when industrially designing low wind speed section control algolithm, typically without using wind speed as control
The input of device processed, the indirect rotational speed governor design industrially typically used are as follows：
Modeled firstly, for wind-driven generator：
In model, impeller torque Ta(unit Nm) drives, by low speed torque Tls(unit Nm) slows down.For generator
For, it is with ωgThe angular speed of (unit rad/s) rotates, by high speed torque Ths(unit Nm) drives, by electromagnetic torque Tem
(unit Nm), Jr, JgIt is the rotary inertia of impeller and generator, unit K gm2, Kr,KgIt is the outside resistance of impeller and generator
Buddhist nun, unit Nm/ (rads).
In summary formula, following transmission system Expression formula can be obtained：
In formula,
When the indirect rotating speed control algolithm industrially designed thinks that wind-driven generator reaches stable state, Ta≈TgAnd λ=λopt,
Cp(λ)=Cpmax, while according to aerodynamics,So last control
Device processed：
Wherein
" the indirect rotating speed control " industrially used is without using the measured value of wind speed, and control algolithm is fairly simple, for control
The operational capability of device processed is less demanding.But it there is also some shortcomings：First, this control method is for optimized rotating speed
Tracking performance is poor.Because wind speed has fluctuation always, a certain determination value will not be stabilized to, this causes the most of the time, should
Actual speed change is slow under kind method, and optimized rotating speed has obvious deviation, and is bigger deviation.Such case leeward
Energy capture effect is not fine, causes wind energy utilization than relatively low.In addition, need to obtain accurately in this control method
KoptValue, but this value is different for different wind-driven generators, and be difficult to know exactly, especially with wind-force
The operation of generator and the change of environment, KoptValue can also change, maximum change is likely to be breached 20% -50% so that
Control effect is deteriorated.
The content of the invention
In order to overcome the indirect rotating speed control algolithm tracking performance that industrial tradition uses poor, by wind-driven generator itself
The shortcomings that structure and environmental change have a great influence, the present invention propose a kind of maximal wind-energy capture side of Variable Speed Wind Power Generator
Method is as follows：
The model of wind turbine power generation power is provided first, and being in the operation of low wind speed section with wind-driven generator obtains maximum
Generated output be control targe, in the case where wind speed is unknown, according to several cycle wind-driven generators before obtain power
Situation, wind-driven generator optimized rotating speed is estimated and is used as the input of controller, the controller is with indirect rotating speed control
Based on device processed, with the deviation of the current rotating speed of proportional controller amendment and optimized rotating speed, so as to realize the impeller of wind-driven generator
Tracking of the rotating speed to optimized rotating speed, to realize maximal wind-energy capture.
Step 1：2n controlling cycle is taken, the generator torque T in this 2n controlling cyclegBe to maintain it is constant, then
Compare the summation of the generation energy of preceding n controlling cycle and rear n controlling cycle in 2n controlling cycle, if rear n control week
Phase produces energy, and n controlling cycle is big earlier above, then the optimized rotating speed of estimation is added into a Δ ω, Δ ω is otherwise subtracted, with public affairs
Formula is expressed as：
Step 2：Due to the difference of wind speed amplitude of variation, cause the size for producing the difference of energy also different, such one
Come, the knots modification Δ ω of corresponding optimized rotating speed should be also varied from, according to preceding n controlling cycle in 2n controlling cycle
With the difference of the generation energy of rear n controlling cycle, by intelligent fuzzy algorithm, different Δ ω is determined, operating process is as follows：
(2-1) determines input, the Fuzzy Distribution of the amount exported, and triangle is chosen to producing the difference Δ W fuzzy subset of energy
Shape membership function：
1) 7 fuzzy subsets, are selected, are negative big (NB) respectively, in bearing (NM), are born small (NM), zero (ZO), just small (PS),
Hit exactly (PM), honest (PB) is used for the domain [- 6000,6000] for covering input quantity Δ W；
2) it is negative big (NB) respectively, to select 7 fuzzy subsets, in bearing (NM), is born small (NM), zero (ZO), just small (PS), just
In (PM), honest (PB) cover output quantity Δ ω domain -0.06, -0.05, -0.04, -0.03, -0.02, -0.01,0,
0.01,0.02,0.03,0.04,0.05,0.06}。
(2-2) establishes fuzzy rule
According to the experience of correlation, following 7 fuzzy rules are established, rule is as follows：
R1:IfΔW is NB,thenΔωis NB；
R2:IfΔW is NM,thenΔωis NM；
R3:IfΔW is NS,thenΔωis NS；
R4:IfΔW is ZO,thenΔωis ZO；
R5:IfΔW is PS,thenΔωis PS；
R6:IfΔW is PM,thenΔωis PM；
R7:IfΔW is PB,thenΔωis PB.
Rule list is as follows：
| Produce energy difference Δ W | NB | NM | NS | ZO | PS | PM | PB |
| Adjusting step Δ ω | NB | NM | NS | ZO | PS | PM | PB |
(2-3) carries out approximate resoning
For any input Δ W*, made inferences using parallel method, i.e.,：
Final output is
(2-4) carries out ambiguity solution
The Δ ω that will finally obtain*Using weighted mean method ambiguity solution, the knots modification Δ ω of final optimized rotating speed is obtained
With the estimate of optimized rotating speed.
Step 3：Obtain the rotational speed omega of current wind generator impellerm, and step 1, the optimized rotating speed estimate obtained in 2
It is poor to make, and produces a deviation e, in order to accelerate response speed, employs ratio control, willOne as control
A part for device output, and plus industrially conventional indirect rotational speed governor, the controller output expression formula finally obtained is such as
Under：
The present invention, without using the measured value of wind speed, is avoided measuring wind speed value inaccuracy and brought by such design
Counter productive, and based on indirect rotating speed control algolithm, the estimation item for optimized rotating speed is added, for optimized rotating speed
Power output of the estimation based on wind-driven generator change, be the value for obtaining estimation from representing optimized rotating speed completely
Actual value, the direction that current rotating speed needs to adjust also is provided, meanwhile, by the difference for producing energy variation, change optimal
The knots modification Δ ω of rotating speed, preferably reflect the amplitude that current rotating speed needs to adjust.Due toOne deposits
, and koptωm 2Knots modification can be fromItem is compensated so that KoptAs wind-driven generator machinery is tied
The change of structure and environment and caused influence of the change for Wind energy extraction effect is improved.The side that the present invention designs
Method can be accelerated to track the speed of optimized rotating speed, so as to produce more preferable Wind energy extraction effect.
Brief description of the drawings
Fig. 1 is to scheme the substantially operation phase of variable pitch and variable speed wind generating unit.
Fig. 2 is the actual kinetic model of wind power generating set.
Fig. 3 is the maximal wind-energy capture method flow diagram of Variable Speed Wind Power Generator.
Fig. 4 is triangular form membership function figure corresponding to fuzzy subset.
Fig. 5 is wind speed curve figure.
Fig. 6 is KoptWind power generating set generated output curve map when not changing.
Fig. 7 is KoptWind turbine power generation power when increasing 50%.
Fig. 8 is KoptWind turbine power generation power when reducing 50%.
Embodiment
Make as detailed below below in conjunction with implementation of the accompanying drawing to the present invention：
Certain rated power 1.5MW Large-scale Wind Turbines that the present embodiment produces to certain wind-powered electricity generation limited company are made
Control analysis.
Accompanying drawing 1 is the substantially operation workspace of wind power generating set, can be divided into two sections, low wind speed section is that maximal wind-energy is caught
Workspace is obtained, it is constant to be mainly to maintain propeller pitch angle, by controlling generating torque, to maintain optimal tip speed ratio to reach raising wind energy
The target of utilization rate；And high wind speed section uses power limitation control, that is, maintain generated output it is steady, high quality generate electricity be beneficial to it is grid-connected,
Reduce the impact to power network.Present invention is generally directed to low wind speed section to be controlled device design.
Accompanying drawing 2 is the actual kinetic model of the wind power generating set, and in a particular embodiment, wind-driven generator uses
Be the leaf trunnion axis windward type speed-changing wind power generators of rated power 1.5MW tri-, wind wheel rotary inertia Jr=4456761Kgm2,
Wind wheel out-damping Kr=45.52Nm/ (rads), generator rotary inertia Jg=123Kgm2, generator external damping
Kg=0.4Nm/ (rads), JtAnd KtPressWithIt is calculated.
The basic parameter of the wind-driven generator unit is as follows：
| Wind power generating set basic parameter | Number range |
| Rated power | 1500KW |
| Power factor | - 0.95~+0.95 |
| Cut wind speed | 3m/s |
| Rated wind speed | 11m/s |
| Cut-out wind speed | 25m/s |
| Rotor diameter | 77m |
| Swept area | 4654㎡ |
| The number of blade | 3 |
| Gear box ratio | 104.494 |
| High speed shaft inertia | 12Kg·m |
| Generator inertia | 123Kg·m |
| Generator type | Wound-rotor type double-fed asynchronous generator |
| Rated power | 1500KW |
| Rated voltage | 690V |
| Mains frequency | 50Hz 60Hz |
| Rated speed | 1800rpm≈188.4rad/s |
Accompanying drawing 3 is the maximal wind-energy capture method flow diagram for Variable Speed Wind Power Generator, in actual emulation, takes n=
3, i.e., the generator torque T in this 6 controlling cyclesgBe to maintain it is constant, then compare in 6 controlling cycles it is preceding 3 control
The summation of the generation energy of cycle and rear 3 controlling cycles, if rear 3 controlling cycles produce energy, 3 controlling cycles are big earlier above,
The optimized rotating speed of estimation is then added into a Δ ω, otherwise subtracts Δ ω.
It is formulated as：
Secondly, using the knots modification Δ of intelligent fuzzy algorithm optimized rotating speed according to corresponding to the different acquisitions for producing energy
ω, step are as follows：
(1) input, the Fuzzy Distribution of the amount exported are determined, triangle is chosen to producing the difference Δ W fuzzy subset of energy
Membership function (membership function is shown in accompanying drawing 4)：
I. 7 fuzzy subsets are selected, are negative big (NB) respectively, in bearing (NM), are born small (NM), zero (ZO), just small (PS), just
In (PM), honest (PB) is used to cover input quantity Δ W domain [- 6000,6000]；
Ii. 7 fuzzy subsets are selected, are negative big (NB) respectively, in bearing (NM), are born small (NM), zero (ZO), just small (PS),
Hit exactly (PM), honest (PB) cover output quantity Δ ω domain -0.06, -0.05, -0.04, -0.03, -0.02, -0.01,0,
0.01,0.02,0.03,0.04,0.05,0.06}；
(2) fuzzy rule is established
According to the experience of correlation, following 7 fuzzy rules are established, rule is as follows：
R1:IfΔW is NB,thenΔωis NB；
R2:IfΔW is NM,thenΔωis NM；
R3:IfΔW is NS,thenΔωis NS；
R4:IfΔW is ZO,thenΔωis ZO；
R5:IfΔW is PS,thenΔωis PS；
R6:IfΔW is PM,thenΔωis PM；
R7:IfΔW is PB,thenΔωis PB；
Rule list is as follows：
| Produce energy difference Δ W | NB | NM | NS | ZO | PS | PM | PB |
| Adjusting step Δ ω | NB | NM | NS | ZO | PS | PM | PB |
(3) approximate resoning is carried out
For any input Δ W*, made inferences using parallel method, i.e.,：
Final output is
(4) ambiguity solution is carried out
The Δ ω that will be obtained*Using weighted mean method ambiguity solution, the estimate of final Δ ω and optimized rotating speed is obtained.
Finally, with indirect rotating speed control rate (koptωm 2) based on, addThis optimal turn of reflection
Speed estimation value changes part just constitute we design be used for maximal wind-energy capture method, shown in equation below：
Specifically used parameter is K in the above methodopt=1175, k=350, n=3.Use the wind-driven generator of commercialization
Simulation software GH Bladed, do simulating, verifying to the low wind speed paragraph controller of use, during emulation, the sampling period of use and control
Cycle processed is all 0.04s, simulation time 400s, and the anemobiagraph for emulating use is shown in accompanying drawing 5.
In the simulation result finally given, accompanying drawing 6 is in wind-driven generator itself KoptWhen not changing, this hair is used
(curve of label 1 is the control algolithm of the present invention, mark to the comparison figure of bright algorithm and the indirect rotational speed governor acquisition power commonly used
Number 2 curves are to commonly use indirect rotating speed control algolithm), final statistical result showed, algorithm of the invention produces energy in 400s
It has been higher by 0.51%.
Accompanying drawing 7 is wind-driven generator itself KoptIncrease 50% (can be realized) by changing the parameter of model in Bladed
Afterwards, the comparison figure of power, final statistical result showed, this hair are obtained using inventive algorithm and conventional indirect rotational speed governor
Bright algorithm in 400s produce energy be higher by 0.78%.
Accompanying drawing 8 is wind-driven generator itself KoptReduce 50% (can be realized by changing the parameter of model in Bladed)
Afterwards, the comparison figure of power, final statistical result showed, this hair are obtained using inventive algorithm and conventional indirect rotational speed governor
Bright algorithm in 400s produce energy be higher by 6.1%.
The technical program verified repeatedly in this rated power 1.5MW large-scale wind driven generators, from accompanying drawing 6,7 with
And 8 as can be seen that no matter KoptWhether change, algorithm used in the present invention will be better than general work on energy effect is produced
The algorithm commonly used in industry, and especially for the change due to wind-driven generator local environment and the change of self structure (such as
Wind power generator oar blade in plateau band often freezes, and rainwater subsidiary on blade can also influence wind-power electricity generation when raining
The air dynamic characteristic of machine) caused by KoptThe situation of change, algorithm of the invention can significantly improve what these reasons were brought
The situation of power drop.For obtaining peak power in wind-driven generator actual motion, increase economic efficiency with larger meaning
Justice and application value.
Claims (2)
1. a kind of maximal wind-energy capture method of Variable Speed Wind Power Generator, it is characterised in that wind-driven generator hair is provided first
The model of electrical power, the operation of low wind speed section is in using wind-driven generator and obtains maximum generated output as control targe, in wind speed
In the case of unknown, the situation of power is obtained according to several cycle wind-driven generators before, to wind-driven generator optimized rotating speed
Estimated and be used as the input of controller, the controller is based on indirect rotational speed governor, with proportional controller amendment
The deviation of current rotating speed and optimized rotating speed, so as to realize tracking of the wheel speed of wind-driven generator to optimized rotating speed, to realize
Maximal wind-energy capture；
2n controlling cycle is taken, the torque T of wind-driven generator in this 2n controlling cyclegIt is to maintain constant, then compares 2n
The summation of the generation energy of preceding n controlling cycle and rear n controlling cycle, then estimates to optimized rotating speed in individual controlling cycle
Meter；
Using the knots modification Δ ω of intelligent fuzzy algorithm optimized rotating speed according to corresponding to the different acquisitions for producing energy, step is such as
Under：
(1) input, the Fuzzy Distribution of the amount exported are determined, is subordinate to producing difference Δ W fuzzy subset's selection triangle of energy
Function：
I. 7 fuzzy subsets are selected, are to bear big NB respectively, NM in bearing, bear small NM, zero ZO, just small PS hits exactly PM, and honest PB is used
In the domain [- 6000,6000] for covering input quantity Δ W；
Ii. 7 fuzzy subsets are selected, are to bear big NB respectively, NM in bearing, bear small NM, zero ZO, just small PS hits exactly PM, and honest PB is contained
Lid output quantity Δ ω domain -0.06, -0.05, -0.04, -0.03, -0.02, -0.01,0,0.01,0.02,0.03,0.04,
0.05,0.06}；
(2) fuzzy rule is established
According to the experience of correlation, following 7 fuzzy rules are established, rule is as follows：
R1:IfΔW is NB,thenΔωis NB；
R2:IfΔW is NM,thenΔωis NM；
R3:IfΔW is NS,thenΔωis NS；
R4:IfΔW is ZO,thenΔωis ZO；
R5:IfΔW is PS,thenΔωis PS；
R6:IfΔW is PM,thenΔωis PM；
R7:IfΔW is PB,thenΔωis PB；
Rule list is as follows：
(3) approximate resoning is carried out
For any input Δ W*, made inferences using parallel method, i.e.,：
Final output is
(4) ambiguity solution is carried out
The Δ ω that will finally obtain*Using weighted mean method ambiguity solution, the estimate of final Δ ω and optimized rotating speed is obtained.
A kind of 2. maximal wind-energy capture method of Variable Speed Wind Power Generator according to claim 1, it is characterised in that with
Indirect rotating speed control rate (koptωm 2) based on, addThe portion of this reflection optimized rotating speed estimation value changes
Point just constitute our designs is used for maximal wind-energy capture method, shown in equation below：
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So far, the torque T obtained by the formulag, be namely based on optimized rotating speed estimation Variable Speed Wind Power Generator maximal wind-energy
The output of catching method；Wherein, PkFor energy, ωmFor rotating speed.
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| ES2951573T3 (en) | 2017-06-07 | 2023-10-24 | Vestas Wind Sys As | Adaptive estimation of available power for wind turbines |
| CN108334672B (en) * | 2018-01-14 | 2019-12-24 | 浙江大学 | Maximum wind energy capturing method of variable-speed wind generating set based on effective wind speed estimation |
| CN108979957B (en) * | 2018-07-16 | 2019-08-02 | 中南大学 | Obtain the non-linear predication control method of Variable Speed Wind Power Generator maximal wind-energy |
| CN110966142B (en) * | 2018-09-28 | 2021-06-22 | 北京金风科创风电设备有限公司 | Control method and device for wind generating set |
| CN109296500B (en) * | 2018-09-28 | 2020-09-29 | 江南大学 | Maximum wind energy capture method based on robust control theory |
| CN110206686A (en) * | 2019-07-17 | 2019-09-06 | 星际（重庆）智能装备技术研究院有限公司 | A kind of adaptive maximum power tracking and controlling method for wind power generating set |
| CN110985287B (en) * | 2019-12-04 | 2021-02-19 | 浙江大学 | Indirect rotating speed control method based on width learning |
| CN110985290B (en) * | 2019-12-04 | 2022-02-11 | 浙江大学 | Optimal torque control method based on support vector regression |
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| JP2013162683A (en) * | 2012-02-07 | 2013-08-19 | Torishima Pump Mfg Co Ltd | Control device and control method for fan-driven generator facility |
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| CN1960159A (en) * | 2006-11-07 | 2007-05-09 | 合肥工业大学 | Control method for tracking maximum power point of wind electric power generation |
| RU2398131C2 (en) * | 2008-05-07 | 2010-08-27 | Вениамин Васильевич Кузнецов | Stabiliser of wind-powered engine rotations |
| JP2013162683A (en) * | 2012-02-07 | 2013-08-19 | Torishima Pump Mfg Co Ltd | Control device and control method for fan-driven generator facility |
| CN103244350A (en) * | 2013-05-02 | 2013-08-14 | 国电南瑞科技股份有限公司 | Method for tracking and controlling optimum tip speed ratio of wind power generation unit |
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