CN105179168B - A kind of large-scale wind electricity set tower frame automatic virtual blocks control method - Google Patents

A kind of large-scale wind electricity set tower frame automatic virtual blocks control method Download PDF

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CN105179168B
CN105179168B CN201510652204.8A CN201510652204A CN105179168B CN 105179168 B CN105179168 B CN 105179168B CN 201510652204 A CN201510652204 A CN 201510652204A CN 105179168 B CN105179168 B CN 105179168B
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pitch angle
propeller pitch
right directions
top left
tower top
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CN105179168A (en
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叶杭冶
应有
孙勇
许国东
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Zhejiang Windey Co Ltd
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Zhejiang Windey Co Ltd
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    • 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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Abstract

A kind of large-scale wind electricity set tower frame automatic virtual blocks control method, comprises the following steps：1) tower top left and right directions vibration acceleration value is measured；2) tower top left and right directions vibration values are obtained to measurement to integrate, obtains tower top left and right directions vibration speed value；3) bandpass filtering and bandreject filtering are carried out to tower top left and right directions vibration speed value；4) through the propeller pitch angle desired value on controller output fixed coordinates axle after filtering；5) wind wheel azimuth is measured, and is transmitted to the input module of Wind turbines main controller；6) the expectation propeller pitch angle on fixed coordinates axle obtains the propeller pitch angle offset of each blade by Park inverse transformations；7) the propeller pitch angle offset that each blade is obtained according to Park inverse transformations it is expected that propeller pitch angle compensates to Wind turbines respectively, and controls blade to act by pitch-controlled system, realizes that pylon automatic virtual blocks control.Present invention reduction is to becoming the requirement of oar, pitch variable bearings and reductor abrasion are smaller, control effect is good.

Description

A kind of large-scale wind electricity set tower frame automatic virtual blocks control method
Technical field
The present invention relates to wind-power electricity generation control technology, especially a kind of large-scale wind electricity set tower frame automatic virtual blocks controlling party Method.
Background technology
At present, Wind turbines single-machine capacity and rotor diameter are increasing, and corresponding tower height also more and more higher, part Unit has exceeded 120m pylon using height.In order to reduce pylon cost, while consider to avoid unit from resonating, large-scale wind Group of motors generally use flexible tower, i.e., in the whole running of wind generating set range of speeds, pylon first-order modal frequency meets 1 Turn again between frequency (1P) and 3 times turns of frequencies (3P), according to the requirement of the standards of GL 2010, pylon frequency ftIt is required to meet：1.05P≤ft≤ 2.95P.And tower height increase, pylon is become more and more soft (i.e. rigidity and frequency decline).
The first-order modal damping of usual flexible tower is all smaller, therefore in running of wind generating set, cabin and pylon all can More serious vibration, and caused to pylon compared with big load, and then unit reliability and life-span can be reduced.And pylon is more soft, cabin Tower oscillation also can be serious, caused by pylon load also can be increasing.
Pylon left and right directions or the damping of fore-and-aft direction first-order modal can be increased, to subtract by automatic virtual blocks control method Small tower oscillation, the load of pylon is reduced, improve unit reliability and life-span, reduce tower weight, improve economy.Often at present The 2 kinds of methods seen：(1) first method, by measuring tower top fore-and-aft direction acceleration, by integration, bandpass filter And amplitude limit link, obtain pylon fore-and-aft direction and add the required expectation propeller pitch angle of resistance control, then it is expected propeller pitch angle with pitch control ring It is added, obtains always it is expected that propeller pitch angle exports, be defeated by pitch-controlled system, has pitch-controlled system driving blade action, realize one before and after pylon Rank mode adds resistance control.This kind of control method, three blades are synchronization action (obtaining identical propeller pitch angle execute instruction), control effect Fruit is poor, requires higher to becoming oar, and can dramatically increase pitch variable bearings and reductor abrasion.(2) second method, measurement is passed through Tower top left and right directions acceleration, by integration, bandpass filter and amplitude limit link, obtain pylon left and right directions and add resistance control Required expectation generator torque, then exported with direct torque ring and it is expected that generator torque is added, obtain always it is expected that generator turns Square exports, and current transformer is defeated by, by current transformer regulator generator battery torque, it is possible to achieve first-order modal adds resistance to control before and after pylon System.This kind of control method, filter design difficult, Actual Control Effect of Strong are poor.
The content of the invention
In order to overcome the higher to change oar requirement of existing tower frame for wind generating set automatic virtual blocks control method, pitch variable bearings and subtract The deficiency that fast machine abrasion is larger, control effect is poor, the present invention provide a kind of requirement, pitch variable bearings and deceleration reduced to becoming oar The large-scale wind electricity set tower frame automatic virtual blocks control method that machine abrasion is smaller, control effect is good.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of large-scale wind electricity set tower frame automatic virtual blocks control method, comprises the following steps：
1) tower top left and right directions vibration acceleration value is measured；
2) tower top left and right directions vibration values are obtained to measurement to integrate, obtains tower top left and right directions vibration speed value；
3) bandpass filtering and bandreject filtering are carried out to tower top left and right directions vibration speed value；
4) filtered tower top left and right directions vibration speed value it is expected through the propeller pitch angle on P controller output fixed coordinates axle Value；
5) wind wheel azimuth is measured, and the input mould for wind wheel azimuth signal will be measured being transferred to Wind turbines main controller Block；
6) the expectation propeller pitch angle on fixed coordinates axle obtains the propeller pitch angle offset of each blade by Park inverse transformations；
7) the propeller pitch angle offset that each blade is obtained according to Park inverse transformations it is expected that propeller pitch angle is carried out to Wind turbines respectively Compensation, and control blade to act by pitch-controlled system, realize that pylon automatic virtual blocks control.
Further, in the step 1), vibrating sensor is installed in nacelle top, tower top left and right directions is obtained for measuring Vibration acceleration value.
Further, in the step 5), an absolute value encoder is installed on Wind turbines slow-speed shaft, for measuring Wind wheel azimuth.
Further, in the step 4), the P controller using P controls, PI controls, LQG controls, fuzzy control, Optimum control, feedforward control or adaptive control algorithm.
In the step 7), the expectation propeller pitch angle for it is expected that propeller pitch angle is the output of rotating speed pitch control device.
Beneficial effects of the present invention are mainly manifested in：1st, reduce to become the requirement of oar, pitch variable bearings and reductor abrasion compared with It is small, control effect is good；2nd, controller design is simple, practical strong；3rd, there is good economy, reliability and Practical Property.
Brief description of the drawings
Fig. 1 is the control block diagram of the medium-and-large-sized tower frame for wind generating set automatic virtual blocks control system of the present invention.
Fig. 2 is the operation principle block diagram of the medium-and-large-sized tower frame for wind generating set automatic virtual blocks control method of the present invention.
Wherein：For wind wheel azimuth, a tower top left and right directions acceleration, ν top of the trellis left and right directions speed, ω1, ω2For bandpass filter frequency, ξ1, ξ2For bandpass filter damping ratio, ω3, ω4For bandstop filter frequency, ξ3, ξ4Hindered for band Wave filter damping ratio, KsFor P controller gain, βdFor the expectation propeller pitch angle of fixed coordinate system, β1'、β'2、β3' it is respectively three blades Desired propeller pitch angle offset.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Figures 1 and 2, a kind of large-scale wind electricity set tower frame automatic virtual blocks control method, comprises the following steps：
1) vibrating sensor is installed in nacelle top, tower top left and right directions vibration acceleration value is obtained for measuring；
2) tower top left and right directions vibration values are obtained to measurement to integrate, obtains tower top left and right directions vibration speed value；
3) bandpass filtering and bandreject filtering are carried out to tower top left and right directions vibration speed value；
4) propeller pitch angle on filtered tower top left and right directions vibration speed value via controller output fixed coordinates axle it is expected Value；
5) absolute value encoder is installed on Wind turbines slow-speed shaft, for measuring wind wheel azimuth, and will be measured Wind wheel azimuth signal is transferred to the input module of Wind turbines main controller；
6) the expectation propeller pitch angle on fixed coordinates axle obtains the propeller pitch angle offset of each blade by Park inverse transformations.
7) the propeller pitch angle offset of each blade is obtained respectively to Wind turbines rotating speed pitch control device according to Park inverse transformations The expectation propeller pitch angle of output compensates, and controls blade to act by pitch-controlled system, realizes that pylon automatic virtual blocks control.
As shown in figure 1, the specific implementation of the present invention includes two controllers, one is rotating speed pitch control device 4, for reality Existing Wind turbines rotating speed control (or realizing Power Control), another is pylon automatic virtual blocks controller 14, for increasing pylon The first-order modal damping of left and right directions, to reduce tower oscillation, reduces the load of pylon.
The implementation process of rotating speed pitch control device 4：Incremental encoder 1 on generator in real time set out by measurement Motor speed, it is transferred to after the LPF and bandreject filtering of device 2 becomes oar PI controllers 3 after filtering, becomes oar PI controllers 3 According to the generator speed after wave filter, blade is obtained in real time and it is expected propeller pitch angle, the expectation propeller pitch angle is exactly three blades output pitch The same section at angle.
The implementation process of pylon automatic virtual blocks controller 14：Vibrating sensor 9 measures tower top side-to-side movement at the top of erection tower Directional acceleration a, then tower top side-to-side movement direction speed ν is obtained by integrator 10, device 11 filters after filtering, after filtering Tower top side-to-side movement direction speed be transferred to controller 12, controller 12 exports the expectation propeller pitch angle on fixed coordinates axle, and Absolute value encoder 8 on installation Wind turbines slow-speed shaft measures wind wheel azimuth；Expectation propeller pitch angle warp on fixed coordinates axle Cross Park inverse transformations 13 and obtain the expectation propeller pitch angle offset of each blade.
Rotating speed pitch control device 4 is obtained it is expected that propeller pitch angle and independent feathering control device 14 obtain the expectation pitch of each blade Angle compensation value passes to propeller pitch angle coupler 7, and propeller pitch angle coupler 7 obtains the expectation propeller pitch angle of each blade respectively, and is transmitted to change Oar system 6, each blade of Wind turbines 5 is controlled to become oar action by pitch-controlled system 6.The present invention can realize original pitch control Function (realizes Wind turbines rotating speed or Power Control), while the first-order modal damping of and can increase pylon left and right directions, with Reduce tower oscillation, reduce the load of pylon, improve reliability and the life-span of unit.
As shown in Fig. 2 pylon automatic virtual blocks control operation principle, its realization comprises the following steps：
1) vibrating sensor measures tower top side-to-side movement directional acceleration a at the top of erection tower；
2) wind wheel azimuth is measured installed in Wind turbines slow-speed shaft absolute value encoder；
3) tower top side-to-side movement direction speed ν is obtained by integration according to tower top side-to-side movement directional acceleration a；
4) bandpass filter is carried out to tower top side-to-side movement direction speed νAnd bandreject filtering DeviceFiltering；
5) filtered tower top side-to-side movement direction speed ν, through the expectation propeller pitch angle on P controller output fixed coordinates axle βd。
6) the expectation propeller pitch angle β on fixed coordinates axle is exportedd, the expectation propeller pitch angle benefit of blade is obtained by Park inverse transformations Repay value (β1', β '2, β3')。
Park inverse transformation formula in the step 6) are：
P controller in the step 5) can use PI controls, LQG controls, fuzzy control, optimum control, adaptive etc. Control algolithm.

Claims (5)

  1. A kind of 1. large-scale wind electricity set tower frame automatic virtual blocks control method, it is characterised in that：Comprise the following steps：
    1) tower top left and right directions vibration acceleration value is measured；
    2) tower top left and right directions vibration values are obtained to measurement to integrate, obtains tower top left and right directions vibration speed value；
    3) bandpass filtering and bandreject filtering are carried out to tower top left and right directions vibration speed value；
    4) filtered tower top left and right directions vibration speed value is through the propeller pitch angle desired value on P controller output fixed coordinates axle；
    5) wind wheel azimuth is measured, and the input module for wind wheel azimuth signal will be measured being transferred to Wind turbines main controller；
    6) the expectation propeller pitch angle on fixed coordinates axle obtains the propeller pitch angle offset of each blade by Park inverse transformations；
    7) the propeller pitch angle offset that each blade is obtained according to Park inverse transformations it is expected that propeller pitch angle compensates to Wind turbines respectively, And control blade to act by pitch-controlled system, realize that pylon automatic virtual blocks control.
  2. A kind of 2. large-scale wind electricity set tower frame automatic virtual blocks control method as claimed in claim 1, it is characterised in that：The step It is rapid 1) in, nacelle top install vibrating sensor, for measure obtain tower top left and right directions vibration acceleration value.
  3. A kind of 3. large-scale wind electricity set tower frame automatic virtual blocks control method as claimed in claim 1 or 2, it is characterised in that：Institute State in step 5), an absolute value encoder is installed on Wind turbines slow-speed shaft, for measuring wind wheel azimuth.
  4. A kind of 4. large-scale wind electricity set tower frame automatic virtual blocks control method as claimed in claim 1 or 2, it is characterised in that：Institute State in step 4), the P controller is using PI controls, LQG controls, fuzzy control, optimum control, feedforward control or self-adaptive controlled Algorithm processed.
  5. A kind of 5. large-scale wind electricity set tower frame automatic virtual blocks control method as claimed in claim 1 or 2, it is characterised in that：Institute State in step 7), the expectation propeller pitch angle for it is expected that propeller pitch angle is the output of rotating speed pitch control device.
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Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105863971A (en) * 2016-06-27 2016-08-17 国电联合动力技术有限公司 Anti-vibration virtual quality control method applicable to towers of wind turbine generator systems
CN106194580A (en) * 2016-07-13 2016-12-07 广东明阳风电产业集团有限公司 A kind of thrust abatement control algolithm of wind power generating set
CN109611274B (en) * 2018-12-11 2021-03-30 苏州科技大学 LQG (Linear quadratic glass) optimization control method for high wind speed area of wind generating set
CN111396249B (en) * 2020-03-31 2022-08-30 新疆金风科技股份有限公司 Method and device for reducing tower load under gust wind condition
CN111502912B (en) * 2020-04-09 2021-08-17 浙江运达风电股份有限公司 Method and system for controlling rotating speed resonance frequency ride-through of wind turbine generator with flexible tower
CN113803209B (en) * 2020-06-15 2023-04-28 新疆金风科技股份有限公司 Blade pitch angle compensation control method and device
CN112128052A (en) * 2020-08-18 2020-12-25 明阳智慧能源集团股份公司 Wind generating set tower load shedding method based on control strategy optimization
CN113309665B (en) * 2021-06-11 2022-03-29 明阳智慧能源集团股份公司 Control method and module for solving first-order lateral vibration of wind generating set tower

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EP2063110A1 (en) * 2007-11-26 2009-05-27 Siemens Aktiengesellschaft Method of damping power vibrations of a wind turbine and inclination control system
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